CN113910276A - Intelligent arbitrary-shape material clamping device, system and method - Google Patents
Intelligent arbitrary-shape material clamping device, system and method Download PDFInfo
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- CN113910276A CN113910276A CN202111324078.5A CN202111324078A CN113910276A CN 113910276 A CN113910276 A CN 113910276A CN 202111324078 A CN202111324078 A CN 202111324078A CN 113910276 A CN113910276 A CN 113910276A
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- 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
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- 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
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Abstract
The invention belongs to the technical field of mechanical equipment, and particularly relates to an intelligent arbitrary-shape material clamping device, system and method. The device comprises a front main body, a rear main body, a transmission block and a driving mechanism; the front main body is provided with a material clamping part which is connected on the front main body in a sliding way; the rear main body is detachably connected with the front main body; the front end of each transmission block is connected with the material clamping part, and the rear end of each transmission block is clamped on the upper surface of the rear main body; the driving mechanism provides driving power for the transmission block and the material clamping part. The intelligent arbitrary appearance material clamping device and the controller form a clamping system. The invention solves the problems that the conventional material clamping device cannot clamp and cannot clamp materials when the conventional material clamping device is not in contact with the materials due to small contact area, the materials are not firmly fixed when the materials are clamped, the clamping force cannot be controlled to generate clamping marks on the surfaces of the materials, the materials are damaged, and the materials with irregular shapes are encountered.
Description
Technical Field
The invention belongs to the technical field of mechanical equipment, and particularly relates to an intelligent arbitrary-shape material clamping device, system and method.
Background
The material clamping device is an indispensable part on processing equipment and a mechanical arm, but the existing common material clamping device has some defects more or less, and the defects are mainly reflected in the following two aspects: on one hand, the contact area between the clamping device and the material is not large, so that the material cannot be well fixed when being clamped; on the other hand, the clamping force of the clamping device cannot be controlled, the excessive clamping force causes the surface of the material to generate clamping marks to damage the material, and the conventional clamping device has the problems of clamping failure and clamping failure when encountering materials with irregular shapes (such as an ellipse, a sphere and any irregular polygon).
Disclosure of Invention
The invention provides an intelligent material clamping device, system and method with any shape, and aims to solve the problems that a clamping device in the prior art is small in contact area with a material and cannot fix the material well when clamping the material; the second purpose is to solve the problem that the clamping force of the clamping device cannot be controlled in the prior art.
In order to achieve the purpose, the invention adopts the technical scheme that:
an intelligent arbitrary shape material clamping device comprises
The material clamping device comprises a front main body, a clamping device body and a clamping device, wherein a material clamping part is arranged on the front main body and is connected to the front main body in a sliding manner;
the rear main body is detachably connected with the front main body;
the front end of each transmission block is connected with the material clamping part, and the rear end of each transmission block is clamped on the upper surface of the rear main body;
and the driving mechanism is connected with the transmission block.
The front main body is of a circular cup-shaped structure; a circular through hole is formed in the center of the bottom surface of the front main body, a plurality of limiting grooves are formed in the bottom surface from the circular through hole to the outer edge of the bottom surface, and the number of the limiting grooves is matched with the number of the transmission blocks; the plurality of limiting grooves are distributed in a circular array; the circular through hole is provided with first connecting portion in the bottom surface inboard, and preceding main part is provided with along the inside wall is even to be used for the connecting hole of being connected with back main part.
The material clamping part comprises a plurality of guide blocks, a plurality of material clamping pincers and a plurality of material clamping contacts; each guide block can be connected to the front main body in a sliding manner; the number of the guide blocks is matched with the number of the transmission blocks; each guide block is connected with a material clamping clamp; and a plurality of telescopic material clamping contacts are arranged on the side surface of each material clamping clamp close to the circle center of the front main body.
The material clamping contact is an integrated structure consisting of a cylinder and a hemisphere; the hemisphere is arranged on the end face of one end of the cylinder, and the diameter of the hemisphere is the same as that of the cylinder; an annular boss is arranged at the joint of the cylinder and the hemisphere; an annular limiting table is arranged on the end face of the other end of the cylinder and movably and hermetically connected with the material clamping pincers.
A groove is formed in the front end face of the hemisphere in the material clamping contact, and an infrared scanner is arranged in the groove.
The material clamping pincers are of a block structure with a trapezoidal longitudinal section, and an oil supply channel of the clamping pincers is arranged in the material clamping pincers; one surface connected with the material clamping contact is uniformly provided with a plurality of through holes used for connecting the material clamping contact, the through holes are all communicated with an oil supply channel of the clamping pincers, and the inner side wall of each through hole is provided with a limiting block vertical to the inner side wall; an oil inlet is formed in the joint of the material clamping pliers and the guide block; the corner of one end of the material clamping clamp far away from the material clamping contact is set to be a chamfer.
The guide block is of a cuboid structure; a through hole for supplying oil to the material clamping pincers is formed between the side wall of the guide block connected with the material clamping pincers and the side wall opposite to the side wall; strip-shaped bulges are arranged on the connecting surface of the material clamping pliers along the axial direction; and a groove for limiting the clamping of the transmission block is arranged on the opposite side surface of the connection surface of the material clamping pliers.
The rear main body is of a disc-shaped structure; a circular through hole is formed in the center of the rear main body; the upper surface of the rear main body is provided with a plurality of raised transmission block limiting grooves from the circular through hole at the center to the outer edge of the upper surface, and the number of the transmission block limiting grooves is matched with that of the transmission blocks; the outer edge of the rear main body is circumferentially provided with a connecting through hole with the front main body; an annular second connecting part is arranged in the central circular through hole in the lower surface of the rear main body; and a main shaft connecting limiting clamping groove used for connecting a machine main shaft is arranged on the inner side wall of the second connecting part.
The transmission block is of a cuboid structure; the middle part of one side edge of the transmission block is provided with two grooves used for connecting a driving mechanism along the radial direction, and the two grooves are arranged in parallel; one side of the transmission block, which is provided with the two grooves, is provided with a through connecting through hole along the axial direction, and the opposite side of the transmission block, which is provided with the two grooves, is provided with a channel for providing hydraulic oil for the material clamping part along the axial direction.
The driving mechanism adopts a hydraulic rod; two driving mechanisms are arranged on each transmission block.
An intelligent arbitrary shape material clamping system at least comprises an intelligent arbitrary shape material clamping device, a controller and a power system; the controller is respectively in electric signal connection with the power system and the material clamping part arranged on the front main body and is used for controlling the material clamping part and the driving mechanism to act; and the power system is respectively connected with the driving mechanism and the material clamping part and is used for providing power for the driving mechanism and the material clamping part to perform actions.
The power system is provided with two sets; the two sets of power systems are respectively a first power system and a second power system, and the first power system is connected with the driving mechanism and provides power for the driving mechanism to translate; the second power system provides power for the material clamping part through the transmission block.
The first power system adopts a hydraulic oil supply mechanism or a motor which consists of a hydraulic pump and a hydraulic cylinder; the second power system adopts a hydraulic oil supply mechanism consisting of a hydraulic pump and a hydraulic cylinder.
The controller at least comprises a computing module, a starting control module and a signal receiving and sending module; the signal receiving and sending module is respectively in electric signal connection with the computing module, the infrared scanner on the material clamping contact in the material clamping part and the power system, and is used for receiving the shape and clamping force information of the clamped object acquired on the material clamping contact and sending a start-stop control signal for starting the control module to the power system; the calculation module is in electric signal connection with the starting control module and is used for comparing and calculating the acquired shape and clamping force information of the clamped object to obtain a control signal required for clamping or loosening the clamped object and sending the control signal to the starting control module; the starting control module is in electric signal connection with the power system and is used for controlling starting and stopping of the driving mechanism.
A material clamping method of an intelligent material clamping system with any shape comprises the following steps,
the method comprises the following steps: installing an intelligent material clamping device with any shape on a numerical control lathe, a numerical control milling machine, a grinding machine, a lathe, a milling machine or a mechanical arm;
step two: the controller acquires and processes the shape information of the material to be clamped; when the material needs to be clamped, entering a third step; when the material needs to be unclamped, entering a fifth step;
step three: the controller controls a first power system in the starting power system to be started, and the driving mechanism pushes the transmission block to horizontally move towards the center direction of the front main body, so that the material clamping portion is driven to move towards the center direction of the front main body, and the material clamping portion clamps the material;
step four: the controller controls a second power system in the starting power system to drive a material clamping contact arranged on the material clamping part through a transmission block, the material clamping contact extends outwards to clamp the material in multiple directions, and the second power system stops after the clamping is stable;
step five: the controller controls and starts the second power system to drive the material clamping contact arranged on the material clamping part through the transmission block, so that the material clamping contact retracts, and the material clamping contact releases multi-directional clamping on the material;
step six: the controller controls the start of the first power system, the driving mechanism drives the transmission block to horizontally move towards the direction far away from the center of the front main body, the material clamping portion is driven to move towards the direction far away from the center of the front main body, the material clamping portion releases the clamping of the material, and the rear driving mechanism stops after the material clamping portion is completely released.
Has the advantages that:
(1) through the organic cooperation of the front main body, the rear main body, the transmission block and the driving mechanism, the problems of clamping failure and clamping failure of the conventional material clamping device are solved.
(2) The driving mechanism in the invention adopts two driving modes of a hydraulic oil supply mechanism or a motor which is composed of a hydraulic pump and a hydraulic cylinder, so that the material clamping mode of the material clamping device with any shape is more flexible.
(3) According to the invention, the infrared scanner is arranged on the material clamping contact, and the shape information of the material to be clamped is obtained through the infrared scanner, so that the controller can drive the driving mechanism more accurately, and the material clamping part can accurately control the clamping force and the clamping mode of the material.
(4) The material clamping contacts are arranged in a plurality of telescopic structures, so that the material clamping device can be used for large-area contact clamping of materials in different shapes, and the damage to the surfaces of the materials is avoided.
The foregoing is merely an overview of the technical solutions of the present invention, and in order to make the technical solutions of the present invention more clearly understood and to be implemented in accordance with the content of the description, the following is a detailed description of preferred embodiments of the present invention.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a schematic diagram of the present invention;
FIG. 2 is a front view of the invention;
FIG. 3 is a rear left 45 view of the present invention;
FIG. 4 is a front view of the front body of the present invention;
FIG. 5 is a front, right 45 view of the front body of the present invention;
FIG. 6 is a rear elevational view of the front body of the present invention;
FIG. 7 is a rear left 45 view of the front body of the present invention;
FIG. 8 is a schematic view of the placement of the drive block of the present invention within the front body;
FIG. 9 is a perspective view of the rear body of the present invention;
FIG. 10 is a front view of the rear body of the present invention;
FIG. 11 is a rear view of the rear body of the present invention;
FIG. 12 is a rear left 45 view of the rear body of the present invention;
FIG. 13 is a schematic view of a material clamping contact of the present invention;
FIG. 14 is a perspective view of the drive block of the present invention;
FIG. 15 is a side view of the drive block of the present invention;
FIG. 16 is a schematic view of the construction of the guide block of the present invention;
FIG. 17 is a schematic view of the material clamping contacts of the present invention in connection with a material clamping vise;
fig. 18 is a schematic view of the structure of the driving mechanism of the present invention.
In the figure: 1-anterior body; 2-rear body; 3-a guide block; 4-a limiting groove; 5-material clamping pincers; 6-material clamping contact; 7-first M3 internal hexagonal bolt; 8-a transmission block; 9-a drive mechanism; 10-second M3 internal hexagonal bolt; 11-a transmission block limiting groove; 12-the main shaft is connected with a limit clamping groove; 13-M6 internal hexagonal bolt; 14-a first connection; 15-a second connection; 16-a first oil port; 17-a second oil port; 18-a limiting groove; 19-raised; 20-clamping jaw oil supply channel; 21-a limiting block; 22-a boss; 23-a limit table; 24-A oil port; 25-B oil port; 26-a placement groove.
The foregoing is only an overview of the technical solutions of the present invention, and in order to make the technical solutions of the present invention more clear and clear, and to implement them in accordance with the content of the description, the following is a detailed description of preferred embodiments of the present invention.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the following embodiments, and it should be understood that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. 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.
The first embodiment is as follows:
referring to fig. 1-18, an intelligent arbitrary shape material clamping device comprises
The device comprises a front main body 1, wherein a material clamping part is arranged on the front main body 1 and is connected to the front main body 1 in a sliding manner;
the rear main body 2, the rear main body 2 is detachably connected with the front main body 1;
the transmission blocks 8 are arranged in a plurality of numbers, the front end of each transmission block 8 is connected with the material clamping part, and the rear end of each transmission block 8 is clamped on the upper surface of the rear main body 2;
the driving mechanism 9 and the driving machine 9 are connected with the transmission block 8.
When in actual use, the intelligent material clamping device with any shape is arranged on a numerical control lathe, a numerical control milling machine, a grinding machine, a lathe, a milling machine or a mechanical arm; when the material needs to be clamped, the external power system is started to drive the driving mechanism 9, and the driving block 8 is driven to horizontally move towards the center direction of the front main body 1, so that the material clamping part is driven to move towards the center direction of the front main body 1, the material clamping part clamps the material, and the driving mechanism 9 stops after the material is stably clamped; when the clamping of the material is required to be removed, the driving mechanism 9 is started, the driving block 8 is driven by the movement of the driving mechanism 9 to horizontally move towards the direction far away from the center of the front main body 1, so that the material clamping portion is driven to move towards the direction far away from the center of the front main body 1, and the material clamping portion is enabled to remove the clamping of the material.
The invention solves the problems that the conventional material clamping device is not firm in fixing materials when clamping materials, cannot control the clamping force to cause material surface clamping marks and damage materials, and cannot clamp and clamp materials with irregular shapes when the conventional material clamping device clamps the materials through the organic matching of the front main body, the rear main body, the transmission block and the driving mechanism.
Example two:
referring to fig. 1-8, in a first embodiment, an intelligent arbitrary-shape material clamping device is shown, wherein a front body 1 is a circular cup-shaped structure; a circular through hole is formed in the center of the bottom surface of the front main body 1, a plurality of limiting grooves 4 are formed in the bottom surface from the circular through hole to the outer edge of the bottom surface, and the number of the limiting grooves 4 is matched with the number of the transmission blocks 8; the plurality of limiting grooves 4 are distributed in a circular array; the circular through hole is provided with a first connecting part 14 at the inner side of the bottom surface, and the front main body 1 is uniformly provided with connecting holes along the inner side wall for connecting with the rear main body 2.
In practical use, the circular through hole is formed in the center of the bottom surface of the front main body 1 to provide a placing space for the material to be clamped. The setting of spacing groove 4 is used for placing guide block 3, make guide block 3 can slide with spacing groove 4 along the below, the below and the driving block 8 of guide block 3, the top of guide block 3 presss from both sides tight pincers 5 with the material and all connects through hexagonal bolt 10 in the first M3, make driving block 8, guide block 3 and material press from both sides tight pincers 5 and become an organic whole, when driving block 8 moves under actuating mechanism 9's drive, guide block 3 and material press from both sides tight pincers 5 can be synchronous with driving block 8, the syntropy removes. The first connecting part 14 is used for being matched with the rear main body 2 to be connected with shafts of a numerical control lathe, a numerical control milling machine, a grinding machine, a lathe, a milling machine and a mechanical arm to be connected. The front body 1 and the rear body 2 are connected by an M6 internal hexagonal bolt 13.
Preceding main part 1 adopts this technical scheme, can press from both sides tight pincers 5 with back main part 2, transmission block 8 and material and cooperate organically, and accurate completion is to the centre gripping of material with relax.
Example three:
referring to fig. 1 and 2, in a first embodiment, the material clamping portion includes a plurality of guide blocks 3, a plurality of material clamping jaws 5, and a plurality of material clamping contacts 6; each guide block 3 can be slidably connected to the front body 1; the number of the guide blocks 3 is matched with the number of the transmission blocks 8; each guide block 3 is connected with a material clamping pliers 5; a plurality of telescopic material clamping contacts 6 are arranged on the side surface of each material clamping pliers 5 close to the circle center of the front main body 1.
In actual use, the number of the guide blocks 3 can be determined according to actual needs. The material clamping contact 6 is telescopic, so that the material clamping part can clamp materials in different shapes in a large area, and the clamping stability is ensured.
Example four:
referring to fig. 1, 2 and 17, in a third embodiment, the material clamping contact 6 is an integrated structure formed by a cylinder and a hemisphere; the hemisphere is arranged on the end face of one end of the cylinder, and the diameter of the hemisphere is the same as that of the cylinder; an annular boss 22 is arranged at the joint of the cylinder and the hemisphere; an annular limiting table 23 is arranged on the end face of the other end of the cylinder, and the limiting table 23 is movably and hermetically connected with the material clamping pincers 5.
In practical use, the hydraulic pump in the second power system is started, hydraulic oil in the hydraulic cylinder is pressurized and transmitted into the clamping jaw oil supply channel 20 of the material clamping jaw 5 through the transmission block 8, and then acts on the material clamping contacts 6 to enable the material clamping contacts 6 to extend outwards to clamp materials, the materials are different in shape, the extending degrees of the material clamping contacts 6 are different, and the clamping area of the materials is ensured to be as large as possible. After the clamping task is finished, the hydraulic pump reduces the pressure, so that the oil pressure in the material clamping pincers 5 is reduced, and the material clamping contact 6 retracts and resets.
In the embodiment, the annular boss 22 is clamped outside the material clamping pincers 5; the setting of cyclic annular spacing platform 23 plays the limiting displacement to material clamping contact 6, and when material clamping contact 6 is overhanging to certain degree, cyclic annular spacing platform 23 is blocked by stopper 21 that the material presss from both sides the last setting of pincers 5, prevents it to continue overhanging. The limiting table 23 is movably connected with the material clamping pincers 5 in a sealing mode, and hydraulic oil in the material clamping pincers 5 is prevented from leaking outwards.
Example five:
referring to fig. 1, 2 and 17, in a fourth embodiment, an intelligent arbitrary-shape material clamping device is provided, where a placement groove 26 is provided on a front end surface of a hemisphere of a material clamping contact 6, and an infrared scanner is provided in the placement groove 26.
In actual use, when the infrared scanner is arranged, the upper surface of the infrared scanner is lower than that of the placing groove 26, so that the infrared scanner cannot be damaged when materials are clamped.
The infrared scanner is arranged to acquire the appearance information of the material to be clamped, so that the material clamping portion can accurately clamp the material to be clamped.
Example six:
referring to fig. 1, 2 and 17, in a third embodiment, the material clamping pincers 5 are of a block structure with a trapezoidal longitudinal section, and an oil supply channel 20 of the clamping pincers is arranged inside the material clamping pincers; one surface connected with the material clamping contact 6 is uniformly provided with a plurality of through holes used for connecting the material clamping contact 6, the through holes are all communicated with an oil supply channel 20 of the clamping pincers, and the inner side wall of each through hole is provided with a limiting block 21 vertical to the inner side wall; an oil inlet is formed at the joint of the material clamping pliers 5 and the guide block; the corner of one end of the material clamping pliers 5, which is far away from the material clamping contact 6, is set to be a chamfer.
When in actual use, the material clamping pliers 5 are internally provided with the clamping pliers oil supply channel 20 to conveniently provide telescopic power for the material clamping contact 6 arranged on the material clamping pliers 5.
The material clamping pincers 5 are provided with chamfers at one ends far away from the material clamping contacts 6, so that collision and friction between the material clamping pincers and the material clamping contacts in reciprocating motion are avoided.
Example seven:
referring to fig. 1, 2 and 16, in a third embodiment, the guide block 3 is a rectangular parallelepiped structure; a through hole for supplying oil to the material clamping pincers 5 is formed between the side wall of the guide block 3 connected with the material clamping pincers 5 and the side wall opposite to the side wall; a strip-shaped bulge 19 is arranged on the connecting surface of the material clamping pliers 5 along the axial direction; and a limiting groove 18 for limiting the clamping of the transmission block 8 is arranged on the opposite side surface of the surface connected with the material clamping pliers 5.
When in actual use, the guide block 3 is arranged in the limiting groove 4 on the front main body 1, and plays a role of transferring the movement of the transmission block 8 to the material clamping pliers 5.
The protrusion 19 is provided to enable the guide block 3 to be clamped in the limiting groove 4 and to slide along the limiting groove 4, and is convenient to connect with the material clamping pliers 5.
The limiting groove 18 is arranged for limiting the clamping of the transmission block 8 and ensuring that the transmission block is not displaced and stably connected.
Example eight:
referring to fig. 1, 9-12, an intelligent arbitrary shape material clamping device is shown, in which, on the basis of the first embodiment, the rear body 2 is a disk-shaped structure; a circular through hole is formed in the center of the rear main body 2; a plurality of raised transmission block limiting grooves 11 are formed in the upper surface of the rear main body 2 from the circular through hole in the center to the outer edge of the upper surface, and the number of the transmission block limiting grooves 11 is matched with the number of the transmission blocks 8; the outer edge of the rear main body 2 is provided with a connecting through hole with the front main body 1 along the circumferential direction; a circular second connecting part 15 is arranged in a central circular through hole on the lower surface of the rear main body 2; a main shaft connecting and limiting clamping groove 12 for connecting a machine main shaft is arranged on the inner side wall of the second connecting portion 15.
When in actual use, the transmission block 8 is clamped in the convex transmission block limiting groove 11 arranged on the rear main body 2, so that the transmission block 8 is limited and clamped; the second connecting part 15 is matched with the first connecting part 14 arranged on the front main body and is used for connecting with shafts of a numerical control lathe, a numerical control milling machine, a grinding machine, a lathe, a milling machine and a mechanical arm to be connected.
Example nine:
referring to fig. 1, 14 and 15, in a first embodiment, the driving block 8 is a rectangular parallelepiped structure; the middle part of one side edge of the transmission block 8 is provided with two grooves used for connecting the driving mechanism 9 along the radial direction, and the two grooves are arranged in parallel; one side that sets up two grooves on the driving block 8 is opened along the axial has the connect through hole that runs through, and the relative one side that sets up two grooves on the driving block 8 is provided with the passageway that is used for providing hydraulic oil for material clamping part along the axial.
Two parallel grooves arranged on the transmission block 8 are respectively connected with a hydraulic rod as a driving mechanism 9; the connecting through hole on the transmission block 8 is the connecting through hole of the first M3 internal hexagonal bolt 7, and the transmission block 8 is fixed on the front main body 1 through the first M3 internal hexagonal bolt 7. The transmission block 8 is connected with the driving mechanism 9 through a second M3 internal hexagonal bolt 10.
The passageway of the hydraulic oil that sets up on the driving block 8, it sets up between first hydraulic fluid port 16 and the second hydraulic fluid port 17 on the driving block 8, and first hydraulic fluid port 16 is used for being connected with second driving system, and second hydraulic fluid port 17 is used for the hydraulic fluid port butt joint on the guide block 3, provides hydraulic oil for material clamping portion.
In this embodiment, the transmission block 8 is provided with a chamfer at one side connected with the first M3 inner hexagonal bolt 7, so that friction caused by mutual collision in the reciprocating process is effectively avoided.
Example ten:
referring to fig. 1 and 18, in a first embodiment, the driving mechanism 9 is a hydraulic rod; two drive mechanisms 9 are provided on each transmission block 8.
In practical use, the driving mechanism 9 adopts a hydraulic rod, and the function of pushing the transmission block 8 can be conveniently realized.
In specific application, the hydraulic rod adopts the prior art, and is provided with an oil port A24 and an oil port B25; the oil port A24 and the oil port B25 are both communicated with a hydraulic cylinder in the first power system. When the material needs to be clamped, the hydraulic pump is started, hydraulic oil in the hydraulic cylinder is filled into the oil port A24, and oil is discharged from the oil port B25; when the clamping of the material needs to be relieved, the hydraulic pump injects oil to the oil port B25, and the oil port A24 discharges oil.
Example eleven:
referring to fig. 1-18, an intelligent arbitrary shape material clamping device is shown, in the first embodiment, the front body 1 is a circular cup-shaped structure; a circular through hole is formed in the center of the bottom surface of the front main body 1, a plurality of limiting grooves 4 are formed in the bottom surface from the circular through hole to the outer edge of the bottom surface, and the number of the limiting grooves 4 is matched with the number of the transmission blocks 8; the plurality of limiting grooves 4 are distributed in a circular array; the circular through hole is provided with a first connecting part 14 at the inner side of the bottom surface, and the front main body 1 is uniformly provided with connecting holes along the inner side wall for connecting with the rear main body 2; the material clamping part comprises a plurality of guide blocks 3, a plurality of material clamping pincers 5 and a plurality of material clamping contacts 6; each guide block 3 can be slidably connected to the front body 1; the number of the guide blocks 3 is matched with the number of the transmission blocks 8; each guide block 3 is connected with a material clamping pliers 5; a plurality of material clamping contacts 6 are arranged on the side surface of each material clamping clamp 5 close to the circle center of the front main body 1; the material clamping contact 6 is an integrated structure consisting of a cylinder and a hemisphere; the hemisphere is arranged on the end face of one end of the cylinder, and the diameter of the hemisphere is the same as that of the cylinder; an annular boss 22 is arranged at the joint of the cylinder and the hemisphere; an annular limiting table 23 is arranged on the end face of the other end of the cylinder, and the limiting table 23 is movably and hermetically connected with the material clamping pincers 5; a placing groove 26 is arranged on the front end face of the hemisphere in the material clamping contact 6, and an infrared scanner is arranged in the placing groove 26; the material clamping pincers 5 are of a block structure with a trapezoidal longitudinal section, and an oil supply channel 20 of the clamping pincers is arranged in the material clamping pincers; the corners of the connecting ends of the material clamping pincers 5 and the guide blocks 3 are provided with chamfers; one surface connected with the material clamping contact 6 is uniformly provided with a plurality of through holes used for connecting the material clamping contact 6, the through holes are all communicated with an oil supply channel 20 of the clamping pincers, and the inner side wall of each through hole is provided with a limiting block 21 vertical to the inner side wall; an oil inlet is formed at the joint of the material clamping pliers 5 and the guide block; the guide block 3 is of a cuboid structure; a through hole for supplying oil to the material clamping pincers 5 is formed between the side wall of the guide block 3 connected with the material clamping pincers 5 and the side wall opposite to the side wall; a strip-shaped bulge 19 is arranged on the connecting surface of the material clamping pliers 5 along the axial direction; a limiting groove 18 for limiting the clamping of the transmission block 8 is arranged on the opposite side surface of the connecting surface of the material clamping pliers 5; the rear main body 2 is of a disc-shaped structure; a circular through hole is formed in the center of the rear main body 2; a plurality of raised transmission block limiting grooves 11 are formed in the upper surface of the rear main body 2 from the circular through hole in the center to the outer edge of the upper surface, and the number of the transmission block limiting grooves 11 is matched with the number of the transmission blocks 8; the outer edge of the rear main body 2 is provided with a connecting through hole with the front main body 1 along the circumferential direction; a circular second connecting part 15 is arranged in a central circular through hole on the lower surface of the rear main body 2; a main shaft connecting and limiting clamping groove 12 for connecting a machine main shaft is arranged on the inner side wall of the second connecting part 15; the transmission block 8 is of a cuboid structure; the middle part of one side edge of the transmission block 8 is provided with two grooves used for connecting the driving mechanism 9 along the radial direction, and the two grooves are arranged in parallel; a through connecting through hole is formed in one side, provided with the two grooves, of the transmission block 8 along the axial direction, and a channel for providing hydraulic oil for the material clamping part is formed in the opposite side, provided with the two grooves, of the transmission block 8 along the axial direction; the driving mechanism 9 adopts a hydraulic rod; two drive mechanisms 9 are provided on each transmission block 8.
When the material clamping device is actually used, firstly, the intelligent material clamping device with any shape is connected to a numerically controlled lathe, the numerically controlled milling machine, a grinding machine, a lathe, the milling machine and a mechanical arm for shaft connection, the intelligent material clamping device with any shape is connected with a power system, then, the power system is started, the power system drives a driving mechanism 9 to move along a transmission block limiting groove 11, so that a transmission block 8 connected with the power system moves, and therefore a guide block 3 connected with the transmission block 8 and a material clamping clamp 5 are driven to move towards the center of a front main body 1 to clamp materials or to move away from the center of the front main body 1 to loosen materials. When the material to be clamped is in an oval, spherical or irregular shape, the power system is started, oil is pressurized and injected into the material clamping pincers 5 through the transmission block 8, so that the material clamping contacts 6 arranged on the material clamping pincers 5 extend outwards, and the extension degrees of the material clamping contacts 6 are different according to different shapes of the material, so that the material is stably clamped; when the clamping of the material is needed to be removed, the power system is started, the oil injection pressure applied to the interior of the material clamping pincers 5 is removed, and the plurality of material clamping contacts 6 retract and reset.
The invention solves the problems of clamping failure and clamping tightness of the conventional material clamping device through the organic matching of the front main body, the rear main body, the transmission block and the driving mechanism. Set up infrared scanner on the material clamping contact, acquire the shape information of treating the tight material of clamp through it for the controller is more accurate to actuating mechanism's drive, thereby makes material clamping part accurate to the tight dynamics of clamp and the tight mode of clamp of having controlled the material. The material clamping contacts are arranged in a plurality of telescopic structures, so that the material clamping device can be used for large-area contact clamping of materials in different shapes, and the damage to the surfaces of the materials is avoided.
Example twelve:
an intelligent arbitrary shape material clamping system at least comprises one intelligent arbitrary shape material clamping device, a controller and a power system; the controller is respectively in electric signal connection with the power system and the material clamping part arranged on the front main body and is used for controlling the material clamping part and the driving mechanism 9 to act; the power system is respectively connected with the driving mechanism 9 and the material clamping part and is used for the driving mechanism 9 and the material clamping part to perform actions to provide power.
Further, the controller at least comprises a computing module, a starting control module and a signal receiving and sending module; the signal receiving and sending module is respectively in electric signal connection with the computing module, the infrared scanner on the material clamping contact 6 in the material clamping part and the power system, and is used for receiving the shape and clamping force information of the clamped object obtained on the material clamping contact 6 and sending a start-stop control signal for starting the control module to the power system; the calculation module is in electric signal connection with the starting control module and is used for comparing and calculating the acquired shape and clamping force information of the clamped object to obtain a control signal required for clamping or loosening the clamped object and sending the control signal to the starting control module; the starting control module is in electric signal connection with the power system and is used for controlling starting and stopping of the driving mechanism 9.
During actual use, after the shape information of the material is acquired through the controller, comparison and calculation are carried out, the obtained result is used for controlling the power system to control the stroke of the transmission block 8 and the material clamping contact 6 arranged on the material clamping part, and the purpose of clamping or loosening the material is finally achieved.
Due to the arrangement of the controller, not only is the automation of control realized, but also the stroke control of the transmission block 8 and the material clamping contact 6 arranged on the material clamping part is more accurate.
Example thirteen:
an intelligent material clamping system with any appearance is characterized in that two sets of power systems are arranged on the basis of the twelfth embodiment; the two sets of power systems are respectively a first power system and a second power system, and the first power system is connected with the driving mechanism 9 and provides power for the driving mechanism 9 to translate; the second power system provides power for the material clamping part through the transmission block 8.
In practical use, the two sets of power systems are arranged, so that the power supply for moving the driving mechanism 9 and the material clamping contact 6 arranged on the material clamping part is conveniently realized. Through the power that provides, the stroke of the material clamping contact 6 that changes actuating mechanism and material clamping portion and go up to set up reaches the control of change to material clamping force degree, and the control to the material clamping contact 6 that sets up on the material clamping portion reaches the material clamping force degree through changing oil pressure.
Example fourteen:
an intelligent material clamping system with any shape is characterized in that on the basis of the thirteenth embodiment, a hydraulic oil supply mechanism or a motor consisting of a hydraulic pump and a hydraulic cylinder is adopted by a first power system; the second power system adopts a hydraulic oil supply mechanism consisting of a hydraulic pump and a hydraulic cylinder.
In actual use, the first power system provides power in two ways, one is electric power, and the other is oil pressure, so as to meet the use requirements of different environments.
The first power system and the second power system are arranged to stably clamp materials in different shapes, so that a good effect is achieved.
Example fifteen:
a material clamping method of an intelligent material clamping system with any shape comprises the following steps,
the method comprises the following steps: installing an intelligent material clamping device with any shape on a numerical control lathe, a numerical control milling machine, a grinding machine, a lathe, a milling machine or a mechanical arm;
step two: the controller acquires and processes the shape information of the material to be clamped; when the material needs to be clamped, entering a third step; when the material needs to be unclamped, entering a fifth step;
step three: the controller controls a first power system in the starting power system to be started, and the driving mechanism 9 pushes the transmission block 8 to horizontally move towards the center direction of the front main body 1, so that the material clamping part is driven to move towards the center direction of the front main body 1, and the material clamping part clamps the material;
step four: the controller controls a second power system in the starting power system to drive a material clamping contact 6 arranged on the material clamping part through a transmission block 8, the material clamping contact 6 extends outwards to clamp the material in multiple directions, and the driving mechanism 9 stops after the clamping is stable;
step five: the controller controls and starts the second power system to drive the material clamping contact 6 arranged on the material clamping part through the transmission block 8, so that the material clamping contact 6 retracts, and the material clamping contact 6 releases multi-directional clamping on the material;
step six: the controller controls to start the first power system, the driving mechanism 9 drives the transmission block 8 to horizontally move in the direction far away from the center of the front main body 1, the material clamping portion is driven to move in the direction far away from the center of the front main body 1, the material clamping portion releases clamping of the material, and the rear driving mechanism 9 is completely released to stop.
The invention solves the problems of clamping failure and clamping tightness of the conventional material clamping device through the organic matching of the front main body, the rear main body, the transmission block and the driving mechanism. The driving mechanism in the invention adopts two driving modes of a hydraulic oil supply mechanism or a motor which is composed of a hydraulic pump and a hydraulic cylinder, so that the material clamping mode of the material clamping device with any shape is more flexible. According to the invention, the infrared scanner is arranged on the material clamping contact, and the shape information of the material to be clamped is obtained through the infrared scanner, so that the controller can drive the driving mechanism more accurately, and the material clamping part can accurately control the clamping force and the clamping mode of the material. The material clamping contacts are arranged in a plurality of telescopic structures, so that the material clamping device can be used for large-area contact clamping of materials in different shapes, and the damage to the surfaces of the materials is avoided.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
In the case of no conflict, a person skilled in the art may combine the related technical features in the above examples according to actual situations to achieve corresponding technical effects, and details of various combining situations are not described herein.
It should be noted that all the directional indicators (such as up, down, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the movement situation, etc. in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.
The foregoing is illustrative of the preferred embodiments of the present invention, and the present invention is not to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein. Any simple modification, equivalent change and modification of the above embodiments according to the technical spirit of the present invention still fall within the scope of the technical solution of the present invention.
Claims (15)
1. The utility model provides an intelligent arbitrary appearance material clamping device which characterized in that: comprises that
The material clamping device comprises a front main body (1), wherein a material clamping part is arranged on the front main body (1), and the material clamping part is connected to the front main body (1) in a sliding manner;
the rear main body (2), the rear main body (2) is detachably connected with the front main body (1);
the transmission blocks (8) are arranged in a plurality of numbers, the front end of each transmission block (8) is connected with the material clamping part, and the rear end of each transmission block (8) is clamped on the upper surface of the rear main body (2);
the driving mechanism (9), the driving mechanism (9) is connected with the transmission block (8).
2. The intelligent arbitrary shape material clamping device of claim 1, wherein: the front main body (1) is of a circular cup-shaped structure; a circular through hole is formed in the center of the bottom surface of the front main body (1), a plurality of limiting grooves (4) are formed in the bottom surface from the circular through hole to the outer edge of the bottom surface, and the number of the limiting grooves (4) is matched with the number of the transmission blocks (8); the plurality of limiting grooves (4) are distributed in a circular array; the circular through hole is provided with a first connecting part (14) on the inner side of the bottom surface, and the front main body (1) is uniformly provided with connecting holes used for being connected with the rear main body (2) along the inner side wall.
3. The intelligent arbitrary shape material clamping device of claim 1, wherein: the material clamping part comprises a plurality of guide blocks (3), a plurality of material clamping pincers (5) and a plurality of material clamping contacts (6); each guide block (3) is connected to the front main body (1) in a sliding manner; the number of the guide blocks (3) is matched with that of the transmission blocks (8); each guide block (3) is connected with a material clamping pliers (5); a plurality of telescopic material clamping contacts (6) are arranged on the side surface of each material clamping clamp (5) close to the circle center of the front main body (1).
4. An intelligent arbitrary shape material clamping device as claimed in claim 3, wherein: the material clamping contact (6) is an integrated structure consisting of a cylinder and a hemisphere; the hemisphere is arranged on the end face of one end of the cylinder, and the diameter of the hemisphere is the same as that of the cylinder; an annular boss (22) is arranged at the joint of the cylinder and the hemisphere; an annular limiting table (23) is arranged on the end face of the other end of the cylinder, and the limiting table (23) is movably and hermetically connected with the material clamping pincers (5).
5. An intelligent arbitrary shape material clamping device as claimed in claim 4, wherein: a placing groove (26) is formed in the front end face of a hemisphere in the material clamping contact (6), and an infrared scanner is arranged in the placing groove (26).
6. An intelligent arbitrary shape material clamping device as claimed in claim 3, wherein: the material clamping pincers (5) are of a block structure with a trapezoidal longitudinal section, and an oil supply channel (20) of the clamping pincers is arranged in the material clamping pincers; one surface connected with the material clamping contact (6) is uniformly provided with a plurality of through holes used for connecting the material clamping contact (6), the through holes are all communicated with the clamping pliers oil supply channel (20), and the inner side wall of each through hole is provided with a limiting block (21) vertical to the inner side wall; an oil inlet is formed in the joint of the material clamping pliers (5) and the guide block; the corner of one end of the material clamping clamp (5) far away from the material clamping contact (6) is set to be a chamfer.
7. An intelligent arbitrary shape material clamping device as claimed in claim 3, wherein: the guide block (3) is of a cuboid structure; a through hole for supplying oil to the material clamping pincers (5) is formed between the side wall of the guide block (3) connected with the material clamping pincers (5) and the side wall opposite to the side wall; a strip-shaped bulge (19) is arranged on the connecting surface of the material clamping pliers (5) along the axial direction; a limiting groove (18) used for limiting the clamping of the transmission block (8) is arranged on the opposite side surface of the surface connected with the material clamping pincers (5).
8. The intelligent arbitrary shape material clamping device of claim 1, wherein: the rear main body (2) is of a disc-shaped structure; a circular through hole is formed in the center of the rear main body (2); a plurality of raised transmission block limiting grooves (11) are formed in the upper surface of the rear main body (2) from the circular through hole in the center to the outer edge of the upper surface, and the number of the transmission block limiting grooves (11) is matched with that of the transmission blocks (8); the outer edge of the rear main body (2) is provided with a connecting through hole with the front main body (1) along the circumferential direction; an annular second connecting part (15) is arranged in a central circular through hole in the lower surface of the rear main body (2); a main shaft connecting and limiting clamping groove (12) used for connecting a machine main shaft is arranged on the inner side wall of the second connecting part (15).
9. The intelligent arbitrary shape material clamping device of claim 1, wherein: the transmission block (8) is of a cuboid structure; the middle part of one side edge of the transmission block (8) is provided with two grooves used for connecting the driving mechanism (9) along the radial direction, and the two grooves are arranged in parallel; one side of the transmission block (8) provided with the two grooves is provided with a through connecting through hole along the axial direction, and the opposite side of the transmission block (8) provided with the two grooves is provided with a channel for providing hydraulic oil for the material clamping part along the axial direction.
10. The intelligent arbitrary shape material clamping device of claim 1, wherein: the driving mechanism (9) adopts a hydraulic rod; two drive mechanisms (9) are arranged on each transmission block (8).
11. The utility model provides an intelligent arbitrary appearance material clamping system which characterized in that: the intelligent arbitrary shape material clamping device at least comprises the intelligent arbitrary shape material clamping device as claimed in any one of claims 1-10, and further comprises a controller and a power system; the controller is respectively in electric signal connection with the power system and the material clamping part arranged on the front main body and is used for controlling the material clamping part and the driving mechanism (9) to act; and the power system is respectively connected with the driving mechanism (9) and the material clamping part and is used for providing power for the driving mechanism (9) and the material clamping part to perform actions.
12. An intelligent arbitrary shape material clamping system as claimed in claim 11, wherein: the power system is provided with two sets; the two sets of power systems are respectively a first power system and a second power system, and the first power system is connected with the driving mechanism (9) and provides power for the driving mechanism (9) to translate; the second power system provides power for the material clamping part through a transmission block (8).
13. An intelligent arbitrary shape material clamping system as claimed in claim 12, wherein: the first power system adopts a hydraulic oil supply mechanism or a motor which consists of a hydraulic pump and a hydraulic cylinder; the second power system adopts a hydraulic oil supply mechanism consisting of a hydraulic pump and a hydraulic cylinder.
14. An intelligent arbitrary shape material clamping system as claimed in claim 11, wherein: the controller at least comprises a computing module, a starting control module and a signal receiving and sending module; the signal receiving and sending module is respectively in electric signal connection with the computing module, an infrared scanner on the material clamping contact (6) in the material clamping part and the power system, and is used for receiving the shape and clamping force information of the clamped object acquired on the material clamping contact (6) and sending a start-stop control signal for starting the control module to the power system; the calculation module is in electric signal connection with the starting control module and is used for comparing and calculating the acquired shape and clamping force information of the clamped object to obtain a control signal required for clamping or loosening the clamped object and sending the control signal to the starting control module; the starting control module is in electric signal connection with the power system and is used for controlling starting and stopping of the driving mechanism (9).
15. The material clamping method of the intelligent arbitrary profile material clamping system of any one of claims 11-14, comprising the steps of,
the method comprises the following steps: installing an intelligent material clamping device with any shape on a numerical control lathe, a numerical control milling machine, a grinding machine, a lathe, a milling machine or a mechanical arm;
step two: the controller acquires and processes the shape information of the material to be clamped; when the material needs to be clamped, entering a third step; when the material needs to be unclamped, entering a fifth step;
step three: the controller controls a first power system in the starting power system to be started, and the driving mechanism (9) pushes the transmission block (8) to horizontally move towards the center direction of the front main body (1), so that the material clamping part is driven to move towards the center direction of the front main body (1), and the material clamping part clamps the material;
step four: the controller controls a second power system in the starting power system to be started, a material clamping contact (6) arranged on the material clamping part is driven through a transmission block (8), the material clamping contact (6) extends outwards to clamp the material in multiple directions, and the second power system stops after the clamping is stable;
step five: the controller controls and starts the second power system to drive the material clamping contact (6) arranged on the material clamping part through the transmission block (8), so that the material clamping contact (6) retracts, and the material clamping contact (6) releases multi-directional clamping on the material;
step six: the controller controls the start of the first power system, the driving mechanism (9) drives the transmission block (8) to horizontally move towards the direction far away from the center of the front main body (1) to drive the material clamping portion to move towards the direction far away from the center of the front main body (1), so that the material clamping portion releases the clamping of the material, and the first power system stops after the material clamping portion is completely released.
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| JP2001121459A (en) * | 1999-10-29 | 2001-05-08 | Mitsubishi Heavy Ind Ltd | Working robot |
| US20100179675A1 (en) * | 2007-08-01 | 2010-07-15 | Komatsu Machinery Corp. | Processing apparatus, center-hole working system, center-hole position deciding program, and center-hole position deciding method |
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