CN212706770U - Rotary switching type double-station clamp - Google Patents
Rotary switching type double-station clamp Download PDFInfo
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- CN212706770U CN212706770U CN202021610596.4U CN202021610596U CN212706770U CN 212706770 U CN212706770 U CN 212706770U CN 202021610596 U CN202021610596 U CN 202021610596U CN 212706770 U CN212706770 U CN 212706770U
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Abstract
The utility model discloses a rotary switching type double-station clamp, a driving component is fixed in a box body, a rack is in transmission connection with the driving component so as to drive the rack to reciprocate between an initial position and a final position along the length direction of the rack, a connecting shaft and a rotating shaft are both rotatably arranged in the box body, a gear and a driving bevel gear are arranged on the connecting shaft, and a driven bevel gear is arranged at one end of the rotating shaft; the other end of the rotating shaft extends out of the box body, the gear is meshed with the rack, and the driving bevel gear is meshed with the driven bevel gear; the double-station rotating part is connected to the other end of the rotating shaft, and the first clamp and the second clamp are arranged on the double-station rotating part; the rack moves to an initial position, the first clamp is located at a first position, and the second clamp is located at a second position; the rack moves to the termination position, the first clamp is switched to the second position, and the second clamp is switched to the first position. The gear rack transmission mode is adopted to output large torque, and the requirement of large load can be met.
Description
Technical Field
The application relates to the technical field of truss manipulators, in particular to a rotary switching type double-station clamp.
Background
Aiming at some rotary switching type double-station clamps requiring large load, a rotary mechanism used for interchanging positions of the two clamps is generally realized by a standard 180-degree rotary cylinder on the market, but the standard 180-degree rotary cylinder can bear small load generally and cannot meet the requirement of larger load.
SUMMERY OF THE UTILITY MODEL
The application aims at providing a rotary switching type double-station fixture so as to meet the heavy load requirement when the double-station fixture is in rotary switching.
The application provides rotatory formula duplex position anchor clamps that switch includes:
a rotation mechanism comprising: the driving assembly is fixed in the box body, the rack is in transmission connection with the driving assembly, the driving assembly is used for driving the rack to reciprocate between an initial position and a final position along the length direction of the rack, the connecting shaft and the rotating shaft are rotatably installed in the box body, the gear and the driving bevel gear are installed on the connecting shaft, and the driven bevel gear is installed at one end of the rotating shaft; the other end of the rotating shaft extends out of the box body, the gear is meshed with the rack, and the driving bevel gear is meshed with the driven bevel gear;
a clamp mechanism comprising: the double-station rotating part is fixedly connected with the other end of the rotating shaft, and the first clamp and the second clamp are arranged on the double-station rotating part;
the rack is moved to an initial position, the first clamp is at a first position, and the second clamp is at a second position; the rack moves to the end position, the first clamp is switched to the second position, and the second clamp is switched to the first position.
Further, the rotary switching type double-station clamp is characterized in that the length direction of the rack is the vertical direction; the box body is provided with a first butt joint surface, the double-station rotating piece is provided with a second butt joint surface, the first butt joint surface and the second butt joint surface are both inclined surfaces, the rotating shaft is perpendicular to the first butt joint surface, and the other end of the rotating shaft is exposed out of the first butt joint surface.
Further, the formula duplex position anchor clamps are switched in rotation, wherein, rotary mechanism still includes: the two first bearings are respectively arranged on two opposite sides of the box body, and two ends of the connecting shaft are respectively arranged in the first bearings; the second bearing is mounted on the first abutment surface with an axis of the second bearing perpendicular to the first abutment surface, and the rotating shaft is mounted in the second bearing.
Further, the rotary switching type double-station clamp comprises: the stroke of a piston rod of the driving cylinder is equal to the distance of the rack moving between the initial position and the final position.
Further, the rotatory switching formula duplex position anchor clamps, wherein, the actuating cylinder is: a cylinder, or alternatively, a ram.
Further, the formula duplex position anchor clamps are switched in rotation, wherein, rotary mechanism still includes: the limiting assembly is used for limiting the rack to move back and forth between an initial position and a final position; the spacing subassembly includes: the limiting block is arranged on the rack; the limiting block extends into the limiting strip hole; the length direction in spacing strip hole is the length direction of rack, and, the one end in spacing strip hole corresponds initial position, the other end corresponds the termination position.
Further, the formula duplex position anchor clamps are switched in rotation, wherein, rotary mechanism still includes: the control module is arranged at the first inductor of the initial position and the second inductor of the final position; the first inductor and the second inductor are both electrically connected with the control module, and the control module is electrically connected with the driving cylinder; the first sensor is used for sensing whether the rack moves to the initial position or not so as to control the driving cylinder to drive the rack to move reversely through the control module; the second sensor is used for sensing whether the rack moves to the termination position or not so as to control the driving cylinder to drive the rack to move reversely through the control module.
Further, the rotary switching type double-station clamp is characterized in that the double-station rotary piece is a triangular double-station rotary piece, one surface of the triangular double-station rotary piece is the second butt joint surface, and a first clamp installation surface for installing the first clamp and a second clamp installation surface for installing the second clamp are formed on the other two surfaces respectively.
Further, the rotary switching type double-station clamp is characterized in that an included angle between the first clamp installation surface and the second clamp installation surface is 90 degrees, the driving assembly drives the rack to move from an initial position to a final position, and the rotating shaft rotates 180 degrees around the axis line of the rotating shaft.
Further, the rotary switching type double-station clamp is characterized in that the rack moves to an initial position, the first clamp at a first position is in a horizontal state, and the second clamp at a second position is in a vertical state; the rack moves to an end position, the second clamp at the first position is in a horizontal state, and the first clamp at the second position is in a vertical state.
The utility model has the advantages that:
the application provides a rotatory formula duplex position anchor clamps that switches includes: the driving assembly is fixed in the box body, the rack is in transmission connection with the driving assembly, the driving assembly is used for driving the rack to reciprocate between an initial position and a final position along the length direction of the rack, the connecting shaft and the rotating shaft are rotatably installed in the box body, the gear and the driving bevel gear are installed on the connecting shaft, and the driven bevel gear is installed at one end of the rotating shaft; the other end of the rotating shaft extends out of the box body, the gear is meshed with the rack, and the driving bevel gear is meshed with the driven bevel gear; a clamp mechanism comprising: the double-station rotating part is fixedly connected with the other end of the rotating shaft, and the first clamp and the second clamp are arranged on the double-station rotating part; the rack is moved to an initial position, the first clamp is at a first position, and the second clamp is at a second position; the rack moves to the end position, the first clamp is switched to the second position, and the second clamp is switched to the first position. The rotary mechanism drives the two fixtures on the fixture mechanism to rotate and switch the station in a gear and rack transmission mode, and when the load of a workpiece clamped on the two fixtures is large, the gear and rack transmission mode can output large torque, so that the requirement of large load can be met.
Drawings
Fig. 1 is a schematic structural view of a rotary switching type double-station clamp provided in the present application;
FIG. 2 is a schematic structural view of a rotary switching dual-station fixture removal dual-station fixture provided herein;
fig. 3 is a first schematic structural diagram of a rotating mechanism provided in the present application;
fig. 4 is a second schematic structural diagram of the rotating mechanism provided in the present application;
fig. 5 is a first schematic view illustrating a principle of rotation switching of a rotation mechanism provided in the present application;
fig. 6 is a schematic diagram illustrating a second principle of rotation switching of the rotation mechanism provided in the present application;
fig. 7 is a third schematic view of the principle of rotation switching of the rotation mechanism provided in the present application.
Detailed Description
The present application will be described in further detail below with reference to the accompanying drawings by way of specific embodiments.
The application provides a rotatory switching formula duplex position anchor clamps is for being applied to the anchor clamps on the truss manipulator, the truss manipulator mainly is applied to the automatic unloading of various lathe (for example, lathe, grinding machine, machining center), machining equipment such as the automatic unloading of automatic assembly line, through the removal of truss manipulator along X axle, Y axle, Z axle, can shift the work piece of treating to process to the station of processing from treating to fetch a position, the station of processing is processing equipment such as lathe or automatic assembly line promptly, treat to fetch a position promptly and deposit the position of not treating the work piece promptly. In the application, the prior art can be referred to for the moving mode of the truss manipulator along the X-axis, the Y-axis and the Z-axis. In the following embodiments, only how the double-station clamp is rotationally switched will be described.
Referring to fig. 1 to 7, the rotary switching type double-station clamp provided in this embodiment includes: the rotary mechanism 10 drives the two fixtures on the fixture mechanism 30 to rotate and switch the station by adopting a driving mode of driving a gear rack by a driving cylinder, and when the load of a workpiece clamped on the two fixtures is large, the requirement of large load can be met by adopting a gear rack driving mode.
The rotating mechanism 10 includes: a housing 11, a driving assembly 12, a rack 13, a connecting shaft 14, a rotating shaft 15, a gear 16, a driving bevel gear 17 and a driven bevel gear 18. The box body 11 is a hollow structure, the driving component 12 is fixed in the box body 11, the rack 13 is in transmission connection with the driving component 12, the connecting shaft 14 and the rotating shaft 15 are both rotatably installed in the box body 11, that is, the connecting shaft 14 and the rotating shaft 15 are respectively installed in the box body 11 in a manner of rotating around respective axial leads, and the gear 16 and the drive bevel gear 17 are fixedly installed on the connecting shaft 14, in other words, the gear 16 and the drive bevel gear 17 are coaxially and fixedly connected through the connecting shaft 14. A driven bevel gear 18 is installed at one end of the rotating shaft 15, and the other end of the rotating shaft 15 extends out of the housing 11. The driving assembly 12 is used for driving the rack 13 to reciprocate between an initial position I and a final position S along the length direction of the rack 13.
The clamp mechanism 30 includes: the double-station rotating part 31, the first clamp 32 and the second clamp 33 are arranged on the double-station rotating part 31, and the double-station rotating part 31 is fixedly connected with the other end of the rotating shaft 15, which is exposed out of the box body 11.
In this embodiment, the connecting shaft 14 is mounted in the housing 11 through two first bearings 141, and the rotating shaft 15 is mounted in the housing 11 through one second bearing 151. The two first bearings 141 are respectively installed at two opposite sides of the case 11, and the axial lines of the two first bearings 141 are overlapped and overlapped with the axial line of the connecting shaft 14, so that the connecting shaft 14 can rotate around its own axial line. The second bearing 151 is mounted on the other side surface of the case 11 excluding both sides where the two first bearings 141 are mounted, and the axis line of the second bearing 151 is perpendicular to the side surface. More specifically, the second bearing 151 is installed on the bottom side excluding the installation of the two first bearings 141. The rotary shaft 15 is mounted in the second bearing 151 with the axis of the rotary shaft 15 coinciding with the axis of the second bearing 151, so that the rotary shaft 15 is rotatable about its own axis
The driving assembly 12 drives the rack 13 to reciprocate linearly along the length direction between an initial position I and an end position S, where the length direction of the rack 13 is the linear movement direction of the rack, and the initial position I and the end position S are in the length direction of the rack 13. In this embodiment, the gear 16 is engaged with the rack 13, and the drive bevel gear 17 is engaged with the driven bevel gear 18, so that the driving assembly 12 drives the rack 13 to make a linear motion, the gear 16 converts the linear motion into a circular motion, and drives the drive bevel gear 17 to make a circular motion through the connecting shaft 14 which rotates coaxially, and the driven bevel gear 18 makes a circular motion simultaneously under the driving of the drive bevel gear 17, thereby rotating the rotating shaft 15 around the axis thereof.
Referring to fig. 5 to 7, fig. 5 shows a state in which the rack 13 is moved to the initial position I, fig. 6 shows a state in which the rack 13 is moved between the initial position I and the final position S, and fig. 7 shows a state in which the rack 13 is moved to the final position S. In the figures, the first clamp 32 and the second clamp 33 are omitted from the double-station rotating member 31. When the driving assembly 12 drives the rack 13 to move to the initial position I (as shown in fig. 5), the first clamp 32 is in the first position a, and the second clamp 33 is in the second position B. When the driving assembly 12 drives the rack 13 to move to the end position S (as shown in fig. 7), the first clamp 32 is switched from the first position a to the second position B, and the second clamp 33 is switched from the second position B to the first position a, so that the rotation switching of the two clamps is realized.
The rack 13, the gear 16, the drive bevel gear 17 and the driven bevel gear 18 can output a large torque to drive the first clamp 32 and the second clamp 33, which are clamped with a large load, to exchange positions in a rotary switching manner.
In this embodiment, the length direction of the rack 13 is the vertical direction. The first abutting surface 111 is disposed on the case 11, the second abutting surface 311 is disposed on the double-position rotating member 31, both the first abutting surface 111 and the second abutting surface 311 are inclined surfaces, the rotating shaft 15 is installed perpendicular to the first abutting surface 15, and the other end of the rotating shaft 15 is exposed out of the first abutting surface 111. The second bearing 151 is mounted on the first abutting surface 111, and an axis of the second bearing 151 is perpendicular to the first abutting surface 111.
In a preferred embodiment, the first and second abutting surfaces 111 and 311 are flat surfaces and spaced apart from each other by a distance that the other end of the rotation shaft 15 protrudes to the first abutting surface 111, so that the first and second abutting surfaces 111 and 311 are parallel to each other. Of course, in other embodiments, one of the first and second abutting surfaces 111 and 311 may be a flat surface, the other may be a convex surface, or both may be convex surfaces, or one may be a concave surface and the other may be a convex surface accommodated in the concave surface, or one may be a curved surface and the other may be another curved surface adapted to the curved surface. In summary, the shape of the two faces is such that it does not affect the rotation process, and thus the two faces do not intersect.
In this embodiment, the double-station rotating member 31 is a triangular double-station rotating member, in other words, the triangular double-station rotating member has three surfaces in the same circumferential direction, one surface of the triangular double-station rotating member is formed as the second abutting surface 311, the other two surfaces are respectively formed with a first clamp mounting surface 312 and a second clamp mounting surface 313, the first clamp mounting surface 312 is used for mounting the first clamp 32, and the second clamp mounting surface 313 is used for mounting the second clamp 33.
In a preferred embodiment, the angle between the first clamp mounting surface 312 and the second clamp mounting surface 313 is 90 °, so that the rotation shaft 15 rotates 180 ° around its own axis during the process of the driving assembly 12 driving the rack 13 to move from the initial position I to the final position S.
In the embodiment, when the driving assembly 12 drives the rack 13 to move to the initial position I, the first clamp 32 at the first position a is in a horizontal state, and the second clamp 33 at the second position B is in a vertical state; when the driving assembly 12 drives the rack 13 to move to the termination position S, the second clamp 33 at the first position a is in a horizontal state, and the first clamp 32 at the second position B is in a vertical state.
The drive assembly 12 preferably employs a drive cylinder, and more preferably, the drive cylinder comprises: the rack 13 is fixed at the piston rod end of the cylinder or the oil cylinder, so that the driving cylinder can drive the rack 13 to do linear reciprocating motion between the initial position I and the final position S along the length direction of the rack. Of course, in other embodiments, the driving assembly 12 may also use a driving motor, and drive the rack 13 to reciprocate between the initial position I and the final position S through a transmission manner of a timing belt or a timing pulley.
In a preferred embodiment, the stroke of the piston rod of the drive cylinder is substantially equal to the distance the rack 13 moves between the initial position I and the end position S, i.e. the distance between the initial position I and the end position S. In this way, the moving distance of the rack 13 can be limited by the moving stroke of the piston rod.
In an embodiment, the aforementioned rotating mechanism 10 further includes: and the limiting assembly is used for limiting the rack 13 to move back and forth between an initial position I and a final position S. Specifically, this spacing subassembly includes: a limit strip hole arranged on the box body 11 and a limit block arranged on the rack 13. The length direction of the limiting strip hole is the length direction of the rack 13, one end of the limiting strip hole corresponds to the initial position I, and the other end of the limiting strip hole corresponds to the terminal position S. The limiting block extends into the limiting strip hole. Therefore, when the limiting block moves to one end of the limiting strip hole along with the movement of the rack 13, the rack 13 moves to the initial position I; when the limiting block moves to the other end of the limiting strip hole along with the movement of the rack 13, the rack 13 moves to the termination position S. Thereby limiting the movement of the rack 13. In the preferred embodiment, the size of the limiting block is adapted to the width of the limiting strip hole, so that the limiting block and the limiting strip hole can guide the movement of the rack 13.
In other embodiments, the aforementioned rotating mechanism further comprises: the sensor comprises a control module, a first sensor arranged at an initial position I and a second sensor arranged at a termination position S. The first sensor and the second sensor are both electrically connected with the control module, and the control module is also electrically connected with the driving cylinder. The first sensor is used for sensing whether the rack 13 moves to an initial position I or not, and the driving cylinder is controlled by the control module to drive the rack to move reversely; the second sensor is used for sensing whether the rack moves to the termination position or not so as to control the driving cylinder to drive the rack to move reversely through the control module.
Specifically, the first sensor and the second sensor can detect the position of the rack 13 in an infrared or electromagnetic induction mode, when the first sensor senses that the rack moves to the initial position I, the detected in-place signal is output to the control module, the control module controls the driving cylinder to stop working, and the driving cylinder drives the rack to move reversely, namely, to move towards the direction of the termination position S. When the second sensor senses that the rack moves to the termination position S, the detected in-place signal is output to the control module, the control module controls the driving cylinder to stop working, and the driving cylinder drives the rack to move in the reverse direction, namely the rack is driven to move towards the direction of the initial position I.
In summary, according to the rotary switching type double-station fixture provided by this embodiment, the rotary mechanism drives the two fixtures on the fixture mechanism to rotate and switch the station in the gear and rack transmission manner, and when the load of the workpiece clamped on the two fixtures is large, the gear and rack transmission manner can meet the requirement of large load.
The foregoing is a more detailed description of the present application in connection with specific embodiments thereof, and it is not intended that the present application be limited to the specific embodiments thereof. It will be apparent to those skilled in the art from this disclosure that many more simple derivations or substitutions can be made without departing from the inventive concepts herein.
Claims (10)
1. A rotary switching type double-station clamp is characterized by comprising:
a rotation mechanism comprising: the driving assembly is fixed in the box body, the rack is in transmission connection with the driving assembly, the driving assembly is used for driving the rack to reciprocate between an initial position and a final position along the length direction of the rack, the connecting shaft and the rotating shaft are rotatably installed in the box body, the gear and the driving bevel gear are installed on the connecting shaft, and the driven bevel gear is installed at one end of the rotating shaft; the other end of the rotating shaft extends out of the box body, the gear is meshed with the rack, and the driving bevel gear is meshed with the driven bevel gear;
a clamp mechanism comprising: the double-station rotating part is fixedly connected with the other end of the rotating shaft, and the first clamp and the second clamp are arranged on the double-station rotating part;
the rack is moved to an initial position, the first clamp is at a first position, and the second clamp is at a second position; the rack moves to the end position, the first clamp is switched to the second position, and the second clamp is switched to the first position.
2. The rotary switchable dual station clamp of claim 1, wherein the length direction of the rack is vertical; the box body is provided with a first butt joint surface, the double-station rotating piece is provided with a second butt joint surface, the first butt joint surface and the second butt joint surface are both inclined surfaces, the rotating shaft is perpendicular to the first butt joint surface, and the other end of the rotating shaft is exposed out of the first butt joint surface.
3. The rotary switchable dual station fixture of claim 2, wherein the rotary mechanism further comprises: the two first bearings are respectively arranged on two opposite sides of the box body, and two ends of the connecting shaft are respectively arranged in the first bearings; the second bearing is mounted on the first abutment surface with an axis of the second bearing perpendicular to the first abutment surface, and the rotating shaft is mounted in the second bearing.
4. The rotary switchable dual station clamp of claim 1, wherein the drive assembly comprises: the stroke of a piston rod of the driving cylinder is equal to the distance of the rack moving between the initial position and the final position.
5. The rotary switchable dual station clamp of claim 4, wherein the actuating cylinder is: a cylinder, or alternatively, a ram.
6. The rotary switchable dual station fixture of claim 5, wherein the rotary mechanism further comprises: the limiting assembly is used for limiting the rack to move back and forth between an initial position and a final position; the spacing subassembly includes: the limiting block is arranged on the rack; the limiting block extends into the limiting strip hole; the length direction in spacing strip hole is the length direction of rack, and, the one end in spacing strip hole corresponds initial position, the other end corresponds the termination position.
7. The rotary switchable dual station fixture of claim 4, wherein the rotary mechanism further comprises: the control module is arranged at the first inductor of the initial position and the second inductor of the final position; the first inductor and the second inductor are both electrically connected with the control module, and the control module is electrically connected with the driving cylinder; the first sensor is used for sensing whether the rack moves to the initial position or not so as to control the driving cylinder to drive the rack to move reversely through the control module; the second sensor is used for sensing whether the rack moves to the termination position or not so as to control the driving cylinder to drive the rack to move reversely through the control module.
8. The rotary switchable double-station clamp according to claim 2, wherein the double-station rotary member is a triangular double-station rotary member, one surface of the triangular double-station rotary member is the second butting surface, and a first clamp mounting surface for mounting the first clamp and a second clamp mounting surface for mounting the second clamp are respectively formed on the other two surfaces.
9. The rotary switchable dual station clamp of claim 8, wherein the angle between the first clamp mounting surface and the second clamp mounting surface is 90 °, the drive assembly drives the rack from the initial displacement to the final position, and the rotary shaft rotates 180 ° about its axis.
10. The rotary switchable dual station clamp of claim 1, wherein the rack moves to an initial position, the first clamp in a first position being in a horizontal position and the second clamp in a second position being in a vertical position; the rack moves to an end position, the second clamp at the first position is in a horizontal state, and the first clamp at the second position is in a vertical state.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021610596.4U CN212706770U (en) | 2020-08-05 | 2020-08-05 | Rotary switching type double-station clamp |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021610596.4U CN212706770U (en) | 2020-08-05 | 2020-08-05 | Rotary switching type double-station clamp |
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| CN212706770U true CN212706770U (en) | 2021-03-16 |
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| CN202021610596.4U Active CN212706770U (en) | 2020-08-05 | 2020-08-05 | Rotary switching type double-station clamp |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113246169A (en) * | 2021-06-10 | 2021-08-13 | 王晓宾 | Automatic clamping mechanism for industrial robot |
| CN113650003A (en) * | 2021-10-20 | 2021-11-16 | 莱州结力工贸有限公司 | Manipulator for machining micro heat pipe |
| CN114083558A (en) * | 2022-01-19 | 2022-02-25 | 新乡职业技术学院 | Clamping device that arm was used |
| CN114260745A (en) * | 2021-12-23 | 2022-04-01 | 安徽苍井精密机械有限公司 | Manipulator profile modeling clamping jaw |
| CN115229998A (en) * | 2022-08-01 | 2022-10-25 | 深圳市龙洋珠宝首饰有限公司 | Multi-angle changeable gem cutting device and method |
| CN119772933A (en) * | 2025-03-07 | 2025-04-08 | 广州市圣南通风设备有限公司 | A fire damper production robot and method thereof |
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2020
- 2020-08-05 CN CN202021610596.4U patent/CN212706770U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113246169A (en) * | 2021-06-10 | 2021-08-13 | 王晓宾 | Automatic clamping mechanism for industrial robot |
| CN113650003A (en) * | 2021-10-20 | 2021-11-16 | 莱州结力工贸有限公司 | Manipulator for machining micro heat pipe |
| CN114260745A (en) * | 2021-12-23 | 2022-04-01 | 安徽苍井精密机械有限公司 | Manipulator profile modeling clamping jaw |
| CN114083558A (en) * | 2022-01-19 | 2022-02-25 | 新乡职业技术学院 | Clamping device that arm was used |
| CN115229998A (en) * | 2022-08-01 | 2022-10-25 | 深圳市龙洋珠宝首饰有限公司 | Multi-angle changeable gem cutting device and method |
| CN119772933A (en) * | 2025-03-07 | 2025-04-08 | 广州市圣南通风设备有限公司 | A fire damper production robot and method thereof |
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