CN205873277U - Press from both sides and get device and press from both sides system of getting - Google Patents
Press from both sides and get device and press from both sides system of getting Download PDFInfo
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- CN205873277U CN205873277U CN201620390139.6U CN201620390139U CN205873277U CN 205873277 U CN205873277 U CN 205873277U CN 201620390139 U CN201620390139 U CN 201620390139U CN 205873277 U CN205873277 U CN 205873277U
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- connecting plate
- clamp device
- workpiece
- frame
- drive mechanism
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Abstract
The utility model discloses a press from both sides device and the clamp system of getting of getting. The clamp is got the device and is used for the clamp to get work piece (100), and including actuating mechanism (1), frame (2), drive mechanism (3) and actuating mechanism (4), the frame is used for installing the end to the robot, and actuating mechanism, drive mechanism and actuating mechanism fix in the frame, and actuating mechanism includes motor (10), and drive mechanism includes the transmission shaft, and the transmission shaft is used for transmitting the rotary motion of motor to actuating mechanism, wherein actuating mechanism includes drill bit (41), and the drill bit is used for getting into inside the work piece when forward rotation to the completion clamp is got the device and is connected with the firm of work piece, the drill bit despins after accomplishing firm the connection to can carry the work piece through promoting with moving, and the work piece by the transport back that targets in place, relieve to press from both sides through reverse rotation and get the device and be connected with the firm of work piece. The utility model discloses the difficult problem that gluey piece was broken a jam has been solved breakthroughly.
Description
Technical field
This utility model relates to a kind of clamp device, is particularly suited for de-stacking blob of viscose, further relates to include this clamp device
Gripping system.
Background technology
Blob of viscose is applied widely at tire and rubber industry, blob of viscose chop type as it is shown in figure 1, it is by as shown in Figure 2
Single blob of viscose 100 stacking form, in actual applications, need the one-tenth of Fig. 1 is chopped blob of viscose and carry out de-stacking, i.e. capture blob of viscose 100
Presumptive area to next step operation.But, up to the present, for the de-stacking of blob of viscose, all rely on artificial, also the most steady
Fixed reliable automation solutions.Utilizing the crawl of robot manipulation's fixture is the mode that a kind of consideration is taked, but due to often
The instrument of rule cannot act on blob of viscose by absorption or the way gripped, and blob of viscose de-stacking automatization cannot realize always.Divide below
Separate out the concrete reason of existing this situation.
First, there is winding film parcel on the surface of blob of viscose, is unsuitable for sponge sucker and rubber suction cups absorption；
Secondly, generally without sideshake between the surface of adjacent blob of viscose, therefore the fixture of cleat style also cannot use；
Again, blob of viscose is the highest to the requirement of fixture, it is generally the case that the surface of blob of viscose is uneven, easily causes
The vacuum leak of sucker；During gas extreme cold on the same day, blob of viscose itself can become again the hardest.
These characteristics just because of blob of viscose so that automatization's difficulty of crawl is the biggest.Therefore, for blob of viscose, how to make
Realize reliable crawl in an automated fashion, be this area difficult problem urgently to be resolved hurrily.
Utility model content
In order to overcome the shortcoming of prior art, goal of the invention of the present utility model is to provide a kind of clamp device, especially
Can solve the problem that a difficult problem for blob of viscose de-stacking.
Technical solutions of the utility model provide a kind of clamp device, are used for gripping workpiece, and described clamp device includes driving
Motivation structure, frame, drive mechanism and actuator, described frame is for installing the end to robot, described drive mechanism, institute
Stating drive mechanism and described actuator is fixed in described frame, described drive mechanism includes motor, described drive mechanism bag
Including power transmission shaft, described power transmission shaft is for being transferred to described actuator by the rotary motion of described motor；Wherein said execution machine
Structure includes drill bit, and described drill bit for entering described inside workpiece, to complete described clamp device with described when rotating forward
The firm connection of workpiece；After completing firmly to connect, described drill bit stops the rotation, thus can carry institute by lifting and movement
State workpiece；And after described workpiece is handled upside down and puts in place, by reversely rotating the jail releasing described clamp device with described workpiece
It is solidly connected.
According to preferred embodiment of the present utility model, described drive mechanism also includes the first shaft coupling, is used for transmitting described
The moment of torsion of motor.
According to preferred embodiment of the present utility model, described drive mechanism also includes that the first screw, described frame include
A plate, described motor is fixed to described first connecting plate by described first screw.
According to preferred embodiment of the present utility model, described frame also includes adpting flange and the second screw, described connection
Flange is for being connected with described robot end and being fixed to described first connecting plate by described second screw.
According to preferred embodiment of the present utility model, described drill bit is two or more than two, and described power transmission shaft includes main
Moving axis and driven shaft, described driving shaft is connected with described first shaft coupling, and described drive mechanism depends on along power transmission shaft every described
Secondary upper bearing (metal), upper gasket, gear, lower gasket and the lower bearing of including, the moment of torsion of described driving shaft is transferred to described by described gear
Driven shaft.
According to preferred embodiment of the present utility model, described frame includes the second connecting plate and the 3rd connecting plate, described on
Bearing is used for connecting described power transmission shaft and described second connecting plate, and described lower bearing is used for connecting described power transmission shaft and the described 3rd
Connecting plate, described gear is between described second connecting plate and described 3rd connecting plate.
According to preferred embodiment of the present utility model, described frame also includes the first connecting plate and the 3rd screw, described
A plate is used for connecting described motor, described 3rd screw be sequentially connected with described first connecting plate, described second connecting plate and
Described 3rd connecting plate.
According to preferred embodiment of the present utility model, described frame also includes that the first packing ring, described first packing ring are positioned at institute
State between the first connecting plate and described second connecting plate, be used for making described first connecting plate and described second connecting plate keep one away from
From.
According to preferred embodiment of the present utility model, the height of described first packing ring is adjustable.
According to preferred embodiment of the present utility model, described frame also includes that the second packing ring, described second packing ring are positioned at institute
State between the second connecting plate and described 3rd connecting plate, be used for making described second connecting plate and described 3rd connecting plate keep one away from
From.
According to preferred embodiment of the present utility model, the height of described second packing ring is adjustable.
According to preferred embodiment of the present utility model, described actuator also includes the second shaft coupling, is used for transmitting described
The moment of torsion of power transmission shaft is to described drill bit.
According to preferred embodiment of the present utility model, described actuator also includes the 4th connecting plate and the 4th screw, institute
State the 4th screw and connect described 4th connecting plate to described frame.
According to preferred embodiment of the present utility model, described actuator also includes bit bearing, is used for connecting described brill
Head and described 4th connecting plate.
According to preferred embodiment of the present utility model, described workpiece is blob of viscose.
The technical solution of the utility model additionally provides a kind of gripping system, including aforesaid clamp device and robot,
Described clamp device is arranged on the end of described robot, and described robot is for completing and described workpiece when described clamp device
Firmly connect after, described robot can drive described clamp device to promote and mobile, thus realizes the carrying of described workpiece.
Thus, clamp device that this utility model provides and include the gripping system of this clamp device, overcome existing
The shortcoming of technology, it is provided that the automation solutions of a kind of workpiece de-stacking, particularly solves a difficult problem for blob of viscose de-stacking, structure
Simply, reliability high, substantially increase work efficiency, it has the advantage that
One, automatization level is improved: the technical scheme provided due to this utility model can realize reliably capturing blob of viscose,
Thus overcome at present carrying blob of viscose and place one's entire reliance upon artificial present situation, it is possible to significantly improve automatization level；
Two, low to operating environment requirements: grip device of the present utility model is owing to have employed robot and unartificial, completely
It is adapted to severe working environment；
Three, simple in construction: grip device simple in construction of the present utility model, it is easy to assembling；
Four, spare and accessory parts versatility: all parts of this suction tool are all readily produced and manufacture；
Five, wide adaptability: grip device of the present utility model is not limited to be applicable to the blob of viscose of all size, moreover it is possible to be suitable for
In de-stacking, other allows the workpiece of boring.
With detailed description of the invention, this utility model is described further below in conjunction with the accompanying drawings.
Accompanying drawing explanation
In order to preferably describe embodiment of the present utility model, depict the following drawings.It should be appreciated that accompanying drawing is only
It is to show preferred embodiment of the present utility model in an illustrative manner, and accompanying drawing should be construed to limit of the present utility model
System, wherein:
Fig. 1 is that blob of viscose of the present utility model chops type schematic diagram；
Fig. 2 is the schematic diagram of single blob of viscose of the present utility model；
The assembling schematic diagram of the grip device of the technical scheme that Fig. 3 provides for this utility model；
The explosive view of the clamp device of the technical scheme that Fig. 4 provides for this utility model；
The sectional view of the clamp device of the technical scheme that Fig. 5 provides for this utility model；
The axonometric chart of the drill bit of the clamp device of the technical scheme that Fig. 6 provides for this utility model.
In the present description and drawings, identical reference represents identical or similar feature or element.
Detailed description of the invention
Below with reference to the following description and accompanying drawing, describe exemplary scheme of the present utility model in detail.This application attached
Figure is not exclusively to draw by the actual size of specific embodiments, and the change in terms of size should be construed as making this reality
With novel restriction.Hereinafter " such as figure ... shown in .. " or similar statement, refer to reference to certain accompanying drawing, specified features be carried out
Describe, but, should not be construed as, this specified features or its equivalents are only included in this accompanying drawing.
In the following description, some direction term, such as "left", "right", " on ", D score, "front", "rear" and other side
Tropism term, is only used for representing the most indicated direction, but when changing in application scenario, then these directional terminology tables
The direction shown also can correspondingly change.And the term such as " first ", " second ", " the 3rd ", " the 4th " is used for describing multiple composition portion
Point, but there is not sequencing between these ingredients, these terms be only used to by an ingredient and another
Ingredient is distinguished.
The clamp device that this utility model provides is entered inside blob of viscose by driven by motor bit, then passes through machine
The lifting of people, carrying, complete the de-stacking task of blob of viscose, such that it is able to solve the difficult problem that in prior art, blob of viscose captures well,
And can be suitably used for capturing other workpiece allowing boring, there is good application prospect in practice.
Fig. 3-5 shows the structure of the preferred embodiment that this utility model provides.Fig. 6 shows folder of the present utility model
The drill bit schematic diagram that fetching is put.
As shown in Figures 3 and 5, clamp device of the present utility model includes drive mechanism 1, frame 2, drive mechanism 3 and performs
Mechanism 4, frame 2 is arranged on the end of robot, and drive mechanism 1, drive mechanism 3 and actuator 4 are fixed in frame 2.Drive
Motivation structure 1 includes that motor 10, actuator 4 include drill bit 41.As a example by capturing blob of viscose, when needs capture, drill bit 41 is just
In time rotating, enter workpiece 100 internal, be connected with the firm of workpiece 100 completing clamp device.Drill bit after completing firmly to connect
41 stop the rotation, thus can carry workpiece 100 by lifting and movement；After workpiece 100 carrying is put in place, by reversely rotation
Turn and can release the firm of clamp device and workpiece 100 and be connected.
Motor 10 can select corresponding output according to the actual demand of workpiece, and the size of frame 2 can also basis
The dimensions respective change of motor 10, drill bit 41 and workpiece.Therefore, this clamp device goes for various sizes of work
Part, as long as workpiece allows to hole, the blob of viscose of the most multiple different size specification.
One of advantage of the present utility model is that clamp device can form the jail with workpiece by entering inside workpiece
It is solidly connected, thus is different from sucker class general on market and clamping plate class clamp device.Having an advantage in that, fixture is directly entered work
Inside part, the two can well connect, and therefore effectively prevent the vacuum leak of sucker class, it is not required that solves clamping plate class
The problem of operating clearance necessary to fixture.Therefore this clamp device is more suitable for the crawl of blob of viscose class workpiece.
Below as a example by Fig. 4, describe the frame for movement of the grip device of preferred forms of the present utility model in detail.
As shown in Figure 4, drive mechanism 1 can include shaft coupling 12, to transmit the moment of torsion of motor 10.Drive mechanism 1 includes
Screw 11, frame 2 includes that connecting plate 22, motor 10 are fixed to connecting plate 22 by screw 11.Frame 2 also includes adpting flange 20
With screw 21, adpting flange 20 can be connected and pass through screw 21 and be fixed to connecting plate 22 with robot end.Robot is at folder
Fetching has been put with after being firmly connected of workpiece 100, clamp device can be driven to promote and movement, thus realize workpiece 100
Carrying.
Drive mechanism 3 includes power transmission shaft, and the rotary motion of motor 10 can be transferred to actuator 4 by power transmission shaft.
In order to ensure the more preferable connection of clamp device and workpiece in practice, drill bit 41 is preferably two or more than two
Individual, to realize the balance of power, and ensure the reliability connected.When there being more than one drill bit, power transmission shaft is by driving shaft 32 He
Driven shaft 33 is constituted, and driving shaft 32 is connected with shaft coupling 12, and drive mechanism 3 includes upper shaft successively along every power transmission shaft 32,33
Holding 31, upper gasket 34, gear 30, lower gasket 34 and lower bearing 35, the moment of torsion of final drive shaft 32 is transferred to driven shaft by gear 30
33。
For the most fixing above-mentioned part, frame 2 can include connecting plate 24 and connecting plate 26, and upper bearing (metal) 31 connects biography
Moving axis 32,33 and connecting plate 24, lower bearing 35 connects power transmission shaft 32,33 and connecting plate 26, and gear 30 is positioned at connecting plate 24 He
Between connecting plate 26.
Frame 2 can also include screw 27, in order to fixed connecting plate 22, connecting plate 24 and connecting plate 26 in the lump.
In order to preferably position, frame 2 can also include packing ring 23 and packing ring 25, preferably height adjustable, and packing ring 23 is positioned at
Between connecting plate 22 and connecting plate 24, packing ring 25 is between connecting plate 24 and connecting plate 26, so that connecting plate 22 and connection
Plate 24, connecting plate 24 and connecting plate 26 keep a distance respectively.
In order to preferably assemble actuator, actuator 4 also includes connecting plate 44 and screw 43, and screw 43 connects
Plate 44 to frame 2.In order to realize the location of drill bit 41, actuator 4 also includes bearing 40, to connect drill bit 41 and connecting plate
44.Actuator 4 can also include shaft coupling 40, thus transmits the moment of torsion of power transmission shaft 32,33 to drill bit 41.
The structure of drill bit 41 of the present utility model can as shown in Figure 6, and its quantity and size can be according to the weight of workpiece
Being designed, the most in one embodiment, the weight of single blob of viscose is 35kg, the long * a height of 700mm*350mm* of width *
150mm, if shifting the blob of viscose of this specification, can select two drill bits, and bit diameter is designed as 30mm, driven by motor drill bit
The degree of depth piercing blob of viscose is 100-120mm, can reliablely and stablely shift blob of viscose.
Clamp device of the present utility model design is the most ingenious, drives drill bit to enter inside blob of viscose by operation motor, from
And blob of viscose can be captured, overcoming at present carrying blob of viscose places one's entire reliance upon artificial present situation, it is possible to significantly improve automatization level,
And it is adapted to severe working environment.It addition, this utility model wide adaptability, it is applicable not only to the blob of viscose of all size,
Also can be suitably used for the workpiece of other permission boring of de-stacking.
As required, above-mentioned each technical scheme can be combined, to reach best-of-breed technology effect.
Above-described is only principle of the present utility model and preferred embodiment.Although it should be pointed out that, as this reality is described
Preferred embodiment of the present utility model and accompanying drawing is disclosed by novel purpose, but person skilled in the art, not
Depart from this utility model and appended spirit and scope by the claims, various replacement can be made, change and retouch.In this practicality
On the basis of new principle, other modification some made, also should be regarded as protection domain of the present utility model.Therefore, this practicality
Novel should not be limited to preferred embodiment and accompanying drawing disclosure of that, protection domain of the present utility model is wanted with appended right
Book is asked to be defined in the range of standard.
Claims (16)
1. the clamp device being used for gripping workpiece (100), it is characterised in that described clamp device include drive mechanism (1),
Frame (2), drive mechanism (3) and actuator (4), described frame (2) is for installing the end to robot, described driving machine
Structure (1), described drive mechanism (3) and described actuator (4) are fixed in described frame (2), and described drive mechanism (1) includes
Motor (10), described drive mechanism (3) includes power transmission shaft, and described power transmission shaft is for transmitting the rotary motion of described motor (10)
To described actuator (4)；Wherein
Described actuator (4) includes drill bit (41), and described drill bit (41) for entering described workpiece (100) when rotating forward
Inside, to complete firmly being connected of described clamp device and described workpiece (100)；Described drill bit (41) after completing firmly to connect
Stop the rotation, thus described workpiece (100) can be carried by lifting and movement；And be moved at described workpiece (100)
After Wei, it is connected with the firm of described workpiece (100) by reversely rotating the described clamp device of releasing.
Clamp device the most according to claim 1, it is characterised in that described drive mechanism (1) also includes the first shaft coupling
(12), it is used for transmitting the moment of torsion of described motor (10).
Clamp device the most according to claim 1, it is characterised in that described drive mechanism (1) also includes the first screw
(11), described frame (2) includes the first connecting plate (22), and described motor (10) is fixed to described by described first screw (11)
First connecting plate (22).
Clamp device the most according to claim 3, it is characterised in that described frame (2) also include adpting flange (20) and
Second screw (21), described adpting flange (20) is for being connected with described robot end and passing through described second screw (21) admittedly
Fixed to described first connecting plate (22).
Clamp device the most according to claim 2, it is characterised in that described drill bit (41) is two or more than two, institute
State power transmission shaft and include that driving shaft (32) and driven shaft (33), described driving shaft (32) are connected with described first shaft coupling (12), institute
State drive mechanism (3) and include upper bearing (metal) (31), upper gasket (34), gear (30), lower gasket successively along power transmission shaft every described
(34) and lower bearing (35), the moment of torsion of described driving shaft (32) is transferred to described driven shaft (33) by described gear (30).
Clamp device the most according to claim 5, it is characterised in that described frame (2) include the second connecting plate (24) and
3rd connecting plate (26), described upper bearing (metal) (31) is used for connecting described power transmission shaft and described second connecting plate (24), described lower axle
Holding (35) to be used for connecting described power transmission shaft and described 3rd connecting plate (26), described gear (30) is positioned at described second connecting plate
(24) and between described 3rd connecting plate (26).
Clamp device the most according to claim 6, it is characterised in that described frame (2) also includes the first connecting plate (22)
With the 3rd screw (27), described first connecting plate (22) is used for connecting described motor (10), and described 3rd screw (27) connects successively
Connect described first connecting plate (22), described second connecting plate (24) and described 3rd connecting plate (26).
Clamp device the most according to claim 7, it is characterised in that described frame (2) also includes the first packing ring (23), institute
State the first packing ring (23) to be positioned between described first connecting plate (22) and described second connecting plate (24), be used for making described first even
Fishplate bar (22) and described second connecting plate (24) keep a distance.
Clamp device the most according to claim 8, it is characterised in that the height of described first packing ring (23) is adjustable.
Clamp device the most according to claim 7, it is characterised in that described frame (2) also includes the second packing ring (25),
Described second packing ring (25) is positioned between described second connecting plate (24) and described 3rd connecting plate (26), is used for making described second
Connecting plate (24) and described 3rd connecting plate (26) keep a distance.
11. clamp devices according to claim 10, it is characterised in that the height of described second packing ring (25) is adjustable.
12. clamp devices according to claim 1, it is characterised in that described actuator (4) also includes the second shaft coupling
Device, for transmitting the moment of torsion of described power transmission shaft to described drill bit (41).
13. clamp devices according to claim 1, it is characterised in that described actuator (4) also includes the 4th connecting plate
(44) and the 4th screw (43), described 4th screw (43) connects described 4th connecting plate (44) to described frame (2).
14. clamp devices according to claim 13, it is characterised in that described actuator (4) also includes bit bearing,
For connecting described drill bit (41) and described 4th connecting plate (44).
15. according to the clamp device one of claim 1～14 Suo Shu, it is characterised in that described workpiece (100) is blob of viscose.
16. 1 kinds of gripping systems, including the clamp device as described in one of claim 1～15 and robot, described gripping fills
Putting the end being arranged on described robot, described robot is for completing and the jail of described workpiece (100) when described clamp device
After being solidly connected, described robot can drive described clamp device to promote and mobile, thus realizes removing of described workpiece (100)
Fortune.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620390139.6U CN205873277U (en) | 2016-05-03 | 2016-05-03 | Press from both sides and get device and press from both sides system of getting |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620390139.6U CN205873277U (en) | 2016-05-03 | 2016-05-03 | Press from both sides and get device and press from both sides system of getting |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205873277U true CN205873277U (en) | 2017-01-11 |
Family
ID=57687430
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620390139.6U Active CN205873277U (en) | 2016-05-03 | 2016-05-03 | Press from both sides and get device and press from both sides system of getting |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205873277U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109202874A (en) * | 2017-07-05 | 2019-01-15 | 海南大学 | A kind of rubber dryness production line unloads glue manipulator |
-
2016
- 2016-05-03 CN CN201620390139.6U patent/CN205873277U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109202874A (en) * | 2017-07-05 | 2019-01-15 | 海南大学 | A kind of rubber dryness production line unloads glue manipulator |
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| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20180605 Address after: Baden, Switzerland Patentee after: ABB TECHNOLOGY LTD. Address before: Zurich Patentee before: ABB T & D Technology Ltd. |