CN210655181U - Clamping device with multi-station adjusting interval - Google Patents
Clamping device with multi-station adjusting interval Download PDFInfo
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- CN210655181U CN210655181U CN201921116096.2U CN201921116096U CN210655181U CN 210655181 U CN210655181 U CN 210655181U CN 201921116096 U CN201921116096 U CN 201921116096U CN 210655181 U CN210655181 U CN 210655181U
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- support
- driving piece
- manipulator
- bracket
- manipulators
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Abstract
The utility model discloses a clamping device with multi-station adjusting interval, which comprises a bracket, a transmission mechanism is arranged on the bracket, the transmission mechanism comprises a guide belt, a stepping motor and at least two synchronizing wheels, the stepping motor is movably connected with one synchronizing wheel and is positioned at one end of the bracket, a driving piece is movably fixed on the guide belt, an installation rail and a plurality of manipulators movably fixed on the installation rail are arranged at the bottom of the bracket, a hinged connecting rod is also arranged at one side of the bracket, a plurality of four-connecting-rod components which are sequentially connected are arranged on the hinged connecting rod, both ends of each four-connecting-rod component are connected with the manipulators, the manipulators which are arranged close to the stepping motor are fixedly connected with the driving piece and synchronously move with the driving piece, the purpose is to provide the clamping device with the multi-station adjusting interval, the stepping motor drives the plurality of manipulators to move synchronously, the same materials can be simultaneously grabbed from a material fetching, the manpower is saved, and the working efficiency is improved.
Description
Technical Field
The utility model relates to a commodity circulation application apparatus field especially relates to a press from both sides and get device with multistation spacing adjustment.
Background
In current automatic industrial product places or pile up neatly handling, because conventional clamp gets the mechanism owing to use singlely, appears multiple problem in the transport application process usually, in practical application, because the product kind is more, and is not of uniform size, and the interval of putting differs, and conventional anchor clamps are difficult to the transform of adaptation interval, and the product is being placed at the interval of getting material line and pile up neatly position different, leads to conventional anchor clamps to only place single product at every turn, and is inefficient.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a press from both sides and get device with multistation spacing adjustment, drive a plurality of manipulator synchronous motion through step motor, can snatch the same material to the unloading station from getting the stockline simultaneously and carry out the pile up neatly, use manpower sparingly, improve work efficiency.
In order to achieve the above purpose, the technical scheme of the utility model has:
the utility model provides a press from both sides and get device with multistation spacing of regulation, includes the support, be provided with drive mechanism on the support, drive mechanism includes conduction band, step motor and two at least synchronizing wheels, step motor and one of them synchronizing wheel swing joint just are located support one end, the activity is fixed with the driving piece on the conduction band, the support bottom is provided with the manipulator of installation rail and a plurality of activity fixation on the installation rail, just is in support one side still is equipped with articulated connecting rod, a plurality of consecutive four-bar components have on the articulated connecting rod, every four-bar component both ends all are connected with the manipulator, and are close to step motor arranges manipulator and driving piece fixed connection, and with driving piece synchronous motion.
Furthermore, each four-bar linkage member comprises four bars, wherein the four bars adjacent to each other are connected in a crossed manner, and the two bars connected in a crossed manner are integrally formed.
Further, the number of the four-bar linkage members is A, the number of the mechanical arms is B, and the following conditions are met: a +1 ═ B.
Furthermore, the manipulator is a two-finger manipulator, and a pressing piece is arranged on one side of each finger of the manipulator.
Furthermore, a photoelectric sensor is arranged on the support and comprises a receiver and a plurality of emitters, the receiver is arranged on the driving piece, and the emitters are fixed on one side of the support.
Furthermore, the support is further provided with an adjusting device, the adjusting device comprises a positioning seat, a screw rod and a sliding plate which can slide relative to the support, the positioning seat is movably connected with the sliding plate through the screw rod, and the sliding plate is fixedly provided with one synchronizing wheel.
Furthermore, a junction box is arranged on the support.
Furthermore, the bracket is also provided with a clamp for clamping the bracket, and one end of the clamp, which is far away from the bracket, is provided with a reversing disc.
Furthermore, the bottom of the support is also provided with at least two stop blocks.
The utility model discloses a clamping device with multistation spacing adjustment, set up a plurality of manipulators on the support, every manipulator all connects the articulated connecting rod, and is provided with drive mechanism on the support, drive mechanism includes conduction band, step motor and at least two synchronizing wheels, step motor and one of them synchronizing wheel swing joint, and lie in one end of the support, the activity is fixed with the driving piece on the conduction band, step motor provides power, and makes the conduction band drive through the synchronizing wheel, thereby drives the driving piece and move about, utilizes one of them manipulator of driving piece simultaneously, through articulated connecting rod folding, and all manipulators that drive and connect the articulated connecting rod simultaneously and synchronous work, utilizes the single control signal source of step motor to drive all manipulators work, and structure and control are simple, and can realize the promotion of work efficiency, use manpower sparingly, and a plurality of manipulators, because centre gripping adaptation width has between the finger of manipulator, can adapt to the product and get the change of placing interval or pile up neatly position of different products on the material line, just the technical scheme of the utility model can extend according to actual demand, improves the range of application.
Drawings
Fig. 1 is a perspective view of a grasping apparatus;
fig. 2 is a front view of the gripping device;
fig. 3 is a top view of the gripping device.
Detailed Description
The utility model discloses a press from both sides and get device with multistation spacing adjustment with combine the figure to describe.
As shown in fig. 1 to 3, as a preferred embodiment of the present invention.
The utility model provides a press from both sides and get device with multistation spacing adjustment, includes support 1, be provided with drive mechanism 2 on support 1, drive mechanism 2 includes conduction band 21, step motor 23 and two at least synchronizing wheels 22, step motor 23 and one of them synchronizing wheel 22 swing joint, and are located 1 one end of support, the activity is fixed with driving piece 24 on the conduction band 21, 1 bottom of support is provided with installation rail 25 and a plurality of activity and fixes manipulator 3 on installation rail 25, just 1 one side of support still is equipped with articulated connecting rod 4, have a plurality of consecutive four-bar linkage components 41 on the articulated connecting rod 4, every four-bar linkage components 41 both ends all are connected with manipulator 3, and are close to step motor 23 arranges manipulator 3 and driving piece 24 fixed connection, and with driving piece 24 synchronous motion.
In this embodiment, two synchronizing wheels 22 are provided, wherein one synchronizing wheel 22 is movably connected to a stepping motor 23, the belt 21 is disposed around the synchronizing wheel 22, the stepping motor 23 drives the synchronizing wheel 22 to rotate, so that the belt 21 rotates in the rotating direction of the synchronizing wheel 22, the driving member 24 is fixedly disposed on the belt 21, so that the driving member 24 moves synchronously with the belt 21, and the driving member 24 is constrained to reciprocate between the two synchronizing wheels 22 through the belt 21 due to the constraint of the synchronizing wheel 22 in order to avoid the device failure caused by the contact between the driving member 24 and the synchronizing wheel 22.
Further preferably, the hinge connecting rod 4 can be folded transversely, the manipulators 3 are movably fixed on the hinge connecting rod 4, the clamping operation of the manipulators 3 is carried out by the folding action of the hinge connecting rod 4, and the clamping operation of all the manipulators 3 can be realized only by transversely moving one manipulator 3 due to the linkage action of the hinge connecting rod 4, wherein the manipulator 3 is fixed with the driving part 24.
As the clamping actions of all the mechanical arms 3 can be completed by controlling and operating one mechanical arm 3, the actions can be completed by providing a single signal source for the driving part 24 through the stepping motor 23, and the control program is simple, convenient and strong in adaptability.
Owing to set up a plurality of manipulators 3 to enlarged horizontal clamp and got the scope, can carry out single or a plurality of clamps simultaneously and get, and can adapt to the interval of placing or the pile up neatly position interval of getting different products on the material line, its concrete adjustment lies in the range of getting of manipulator 3, can change according to actual conditions and have different manipulators 3 who get the scope of getting.
The folding of the articulated link 4 drives the manipulator 3 according to the lever principle, which is prior art and will not be described in detail here.
In order to facilitate the assembly of the hinge link 4, each of the four-bar linkage members 41 includes four bars 42, wherein the four bars 42 adjacent to each other of two adjacent four-bar linkage members 41 are connected in a crossing manner, and the two bars connected in the crossing manner are integrally formed, and by folding one of the bars 42 in the four-bar linkage members 41, since the circumferences of the four-bar linkage members 41 are equal, the position and direction of one of the bars 42 is changed, so as to drive other structures of the four-bar linkage members 41 to be changed, thereby enabling the four-bar linkage members 41 in the hinge link 4 to be folded in a linkage manner.
Wherein the four-bar linkage 41 comprises four inflection points 43, and two adjacent four-bar linkage 41 share one inflection point 43 and are connected to each other.
In order to meet the application requirement, the four-bar linkage members 41 are arranged in the number of A, the manipulators 3 are arranged in the number of B, and the following conditions are met: a +1 ═ B.
The articulated links 4 are constituted by four-link members 41, and under the condition that the four-link structure shares the inflection point, the articulated links 4 share the intersection points formed by the intersection of the rods in the transverse central axis, and the number of the intersection points is always 1 more than the number of the four-link members 41, and since one robot 3 is provided for each intersection point position, the number of the robots 3 is also 1 more than the number of the four-link members 41.
In order to meet the application requirement, the manipulator 3 is a two-finger manipulator 3, the clamping action can be completed through two fingers according to common knowledge, a pressing piece 31 is arranged on one side of each finger of the manipulator 3, and the pressing piece 31 can increase the contact area between the product and the surface of the product when the manipulator 3 is clamped and taken due to the fact that the product generally has a certain volume, so that the product is clamped and carried more stably by the manipulator 3.
The support 1 is provided with a photoelectric sensor 5, the photoelectric sensor 5 comprises a receiver (not shown) and a plurality of emitters 51, the receiver (not shown) is arranged on the driving piece 24, the emitters 51 are fixed on one side of the support 1, the photoelectric sensor 5 is used for limiting the position of the manipulator 3 fixedly connected with the driving piece 24, the emitters 51 are arranged on a plurality of positions on one side of the support 1, the driving piece 24 transversely moves left and right, when the driving piece moves to the opposite position of one emitter 51, the receiver (not shown) receives the signal of the emitter 51 and identifies the signal, the clamping force of a product can be controlled, and the phenomenon that the product is damaged due to overlarge force can be avoided.
In order to facilitate the installation of the guide belt 21 and the adjustment of the tension thereof, the bracket 1 is further provided with an adjusting device 6, the adjusting device 6 comprises a positioning seat 61, a screw rod 62 and a sliding plate 63 which can slide relative to the bracket 1, the positioning seat 61 is movably connected with the sliding plate 63 through the screw rod 62, one of the synchronizing wheels 22 is fixed on the sliding plate 63, the screw rod 62 is fixedly connected with the sliding plate 63, the sliding plate 63 can horizontally move along the extending direction of the screw rod 62 through the adjustment of the screw rod 62, and the moving range threshold is determined by the length of the screw rod 62.
In this embodiment, since one of the synchronizing wheels 22 is fixed to the sliding plate 63, the slack state of the belt 21 before installation can be tightened by adjusting the sliding plate 63 by adjusting the moving distance of the sliding plate 63, thereby facilitating installation of the belt 21 and adjustment of the belt 21.
In order to meet the requirements of application requirements, the bracket 1 is further provided with a junction box 7, the junction box 7 can be opened, and a key connecting line of the device is arranged in the junction box 7, so that the maintenance of workers is facilitated.
In order to meet the application requirement, the bracket 1 is further provided with a clamp 8 for clamping the bracket 1, the bracket 1 can change along with the clamp 8 according to the position or direction of the clamp 8 through the clamp 8, one end of the clamp 8, which is far away from the bracket 1, is provided with a reversing disc 81, a mounting hole 82 is formed in the reversing disc 81, and the reversing disc 81 fixes the clamp 8 through the mounting hole 82 for determining the application position of the bracket 1.
In order to limit the left and right translation position of the manipulator 3, the bottom of the bracket 1 is further provided with a stop block 251, the stop block 251 is used for stopping and limiting, at least two stop blocks 251 are arranged, and one of the two stop blocks 251 is respectively arranged at the two ends of the bottom of the bracket 1, and the stop blocks 251 are used for limiting the left and right translation range of the manipulator 3 or the folding degree of the hinged connecting rod 4.
The utility model discloses a press from both sides and get device with multistation spacing adjustment sets up a plurality of manipulators 3 on support 1, and every manipulator 3 all connects articulated connecting rod 4, and is provided with drive mechanism 2 on support 1, drive mechanism 2 includes conduction band 21, step motor 23 and at least two synchronizing wheels 22, step motor 23 and one of them synchronizing wheel 22 swing joint, and be located one end of support 1, the activity is fixed with driving piece 24 on conduction band 21, step motor 23 provides power, and makes conduction band 21 drive through synchronizing wheel 22, thereby drives driving piece 24 and removes about, utilizes one of them manipulator 3 of driving piece 24 simultaneously, folds through articulated connecting rod 4, and drives all manipulators 3 that connect articulated connecting rod 4 and synchronous work simultaneously, utilizes the single control signal source of step motor 23 and drives all manipulators 3 work, structure and control are simple to can realize work efficiency's promotion, use manpower sparingly, and a plurality of manipulators 3, because have centre gripping adaptation width between manipulator 3's the finger, can adapt to the product and get the change of placing interval or pile up neatly position of different products on the material line, just the technical scheme of the utility model can extend according to actual demand, improves the range of application.
Variations and modifications to the above-described embodiments may occur to those skilled in the art, in light of the above teachings and teachings. Therefore, the present invention is not limited to the specific embodiments disclosed and described above, and some modifications and changes to the present invention should fall within the protection scope of the claims of the present invention. Furthermore, although specific terms are employed herein, they are used in a generic and descriptive sense only and not for purposes of limitation.
Claims (9)
1. The utility model provides a press from both sides and get device with multistation spacing of regulation, includes the support, its characterized in that, be provided with drive mechanism on the support, drive mechanism includes conduction band, step motor and two at least synchronizing wheels, step motor and one of them synchronizing wheel swing joint just are located support one end, the activity is fixed with the driving piece on the conduction band, the support bottom is provided with the manipulator of installation rail and a plurality of swing joint on the installation rail, just support one side still is equipped with articulated connecting rod, a plurality of consecutive four-bar components have on the articulated connecting rod, every four-bar component both ends all are connected with the manipulator, and are close to step motor arranges manipulator and driving piece fixed connection, and with driving piece synchronous motion.
2. The grasping apparatus according to claim 1, wherein each of the four-bar linkage members includes four bars, wherein four bars adjacent to two of the four-bar linkage members are cross-linked and the cross-linked two bars are integrally formed.
3. The gripping apparatus according to claim 1, wherein the four-bar linkage members are provided in a number of a, and the manipulators are provided in a number of B, and the condition is satisfied: a +1 ═ B.
4. The gripper apparatus of claim 1, wherein said robot is a two-finger robot and each finger of said robot has a pressing member on one side.
5. The grasping apparatus according to claim 1, wherein the frame is provided with a photosensor comprising a receiver and a plurality of emitters, the receiver being provided on the drive member, the plurality of emitters being fixed to a side of the frame.
6. The grasping apparatus according to claim 1, wherein the holder further comprises an adjusting device, the adjusting device comprises a positioning seat, a lead screw, and a sliding plate slidable relative to the holder, the positioning seat is movably connected to the sliding plate via the lead screw, and the sliding plate is fixed with one of the synchronizing wheels.
7. The grasping apparatus according to claim 1, wherein a junction box is further provided on the support.
8. The clamping device as claimed in claim 1, wherein the holder is further provided with a clamp for clamping the holder, and a reversing disc is provided on an end of the clamp away from the holder.
9. The grasper device of claim 1 wherein the base of the frame is further provided with stop blocks, and at least two of the stop blocks are provided.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921116096.2U CN210655181U (en) | 2019-07-17 | 2019-07-17 | Clamping device with multi-station adjusting interval |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921116096.2U CN210655181U (en) | 2019-07-17 | 2019-07-17 | Clamping device with multi-station adjusting interval |
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| Publication Number | Publication Date |
|---|---|
| CN210655181U true CN210655181U (en) | 2020-06-02 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921116096.2U Active CN210655181U (en) | 2019-07-17 | 2019-07-17 | Clamping device with multi-station adjusting interval |
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| Country | Link |
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| CN (1) | CN210655181U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111807042A (en) * | 2020-08-01 | 2020-10-23 | 新昌县星丰机械厂 | Machining blanking machine material stop gear that stability is strong |
| CN112938748A (en) * | 2021-03-24 | 2021-06-11 | 河南高柏智能搬运机械有限公司 | Lifting appliance for clamping cylindrical articles |
| CN113245806A (en) * | 2021-06-03 | 2021-08-13 | 成都秦川物联网科技股份有限公司 | Material taking manipulator |
| CN113603339A (en) * | 2021-08-26 | 2021-11-05 | 山东三金玻璃机械有限公司 | Bottle clamping mechanism with multiple bottle pitches |
| CN113911722A (en) * | 2021-10-29 | 2022-01-11 | 湖北楚大智能装备有限公司 | Glass bottle clamping device, use method and system |
-
2019
- 2019-07-17 CN CN201921116096.2U patent/CN210655181U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111807042A (en) * | 2020-08-01 | 2020-10-23 | 新昌县星丰机械厂 | Machining blanking machine material stop gear that stability is strong |
| CN112938748A (en) * | 2021-03-24 | 2021-06-11 | 河南高柏智能搬运机械有限公司 | Lifting appliance for clamping cylindrical articles |
| CN113245806A (en) * | 2021-06-03 | 2021-08-13 | 成都秦川物联网科技股份有限公司 | Material taking manipulator |
| CN113245806B (en) * | 2021-06-03 | 2022-05-17 | 成都秦川物联网科技股份有限公司 | Material taking manipulator |
| CN113603339A (en) * | 2021-08-26 | 2021-11-05 | 山东三金玻璃机械有限公司 | Bottle clamping mechanism with multiple bottle pitches |
| CN113911722A (en) * | 2021-10-29 | 2022-01-11 | 湖北楚大智能装备有限公司 | Glass bottle clamping device, use method and system |
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